Abstract
Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered.
| Original language | English (US) |
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| Pages | 1-4 |
| Number of pages | 4 |
| State | Published - 1990 |
| Event | Proceedings of the 1990 IEEE International Conference on Systems Engineering - Pittsburgh, PA, USA Duration: Aug 9 1990 → Aug 11 1990 |
Other
| Other | Proceedings of the 1990 IEEE International Conference on Systems Engineering |
|---|---|
| City | Pittsburgh, PA, USA |
| Period | 8/9/90 → 8/11/90 |
ASJC Scopus subject areas
- General Engineering