Advanced Dynamic Control for Manipulators used in Flexible  Automation
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
Present manipulator control technology comprises traditional                    proportional/derivative and proportional/integral/derivative                    controllers.  These controllers are based on theory evolved over 30             years ago.  They are easy to implement and performance has been                 adequate although not optimum.  Improved controllers could provide              optimal performance and substantially improved speed and accuracy.              Furthermore, problems associated with inertia variation, friction,              structural flexibility, and direct drive manipulators demand that               improved control techniques be evolved.  This project addresses that            task.  It applies advanced control theory to manipulator control.               Specifically, adaptive control ideas are brought to bear on manipulator         control.  Ultimately, these methods may engender the improved control           which industry will demand of future manipulators.  There are potential         applications to other classes of machine control as well.
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{'Name': 'University of California-Berkeley', 'CityName': 'BERKELEY', 'ZipCode': '947101749', 'PhoneNumber': '5106433891', 'StreetAddress': '1608 4TH ST STE 201', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'California', 'StateCode': 'CA', 'CONGRESSDISTRICT': '12', 'CONGRESS_DISTRICT_ORG': 'CA12', 'ORG_UEI_NUM': 'GS3YEVSS12N6', 'ORG_LGL_BUS_NAME': 'REGENTS OF THE UNIVERSITY OF CALIFORNIA, THE', 'ORG_PRNT_UEI_NUM': None}
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{'Code': '1445', 'Text': 'DYNAMICS & CONTROL'}
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