Name
Abstract | ||
|---|---|---|
The control of lightweight flexible manipulators is the focus of this work. Theflexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full-order flexible dynamic system does not allow the deter mination of a nonlinear feedback control as for rigid manipu lators, since there are not as many control inputs as output variables. This drawback is overcome by a model order reduction, based on a singular perturbation strategy, where the fast state variables are the elastic forces and their time derivatives.A composite control is adopted. First, a slow control is designed for the slow subsystem, which is shown to be the model of the equivalent rigid-link manipulator. Then a fast control is designed to stabilize the fast subsystem around the equilibrium trajectory set up by the slow subsystem under the effect of the slow control.The one-link flexible-arm prototype in the Flexible Auto mation Laboratory at Georgia Institute of Technology is chosen for developing a case study... |
Year | DOI | Venue |
|---|---|---|
1988 | 10.1177/027836498800700404 | I. J. Robotic Res. |
Keywords | Field | DocType |
lightweight flexible manipulator,singular perturbation approach,feedback control,singular perturbation,dynamic system | Motion control,Nonlinear system,Model order reduction,Control theory,Manipulator,Control engineering,Singular perturbation,Industrial robot,State variable,Trajectory,Mathematics | Journal |
Volume | Issue | ISSN |
7 | 4 | 0278-3649 |
Citations | PageRank | References |
118 | 18.39 | 2 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Bruno Siciliano | 1 | 118 | 18.39 |
| Wayne J. Book | 2 | 251 | 40.55 |