Experiments in Identification and Control of Flexible-Link Manipulators

Stephen Yurkovich; Anthony P. Tzes

doi:10.1109/37.45793

Experiments in Identification and Control of Flexible-Link Manipulators

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Abstract

This paper reports on an ongoing effort for end-point position control of flexible-link manipulators under realistic conditions in laboratory setups consisting of one- and two-link manipulators. The paper treats modeling, identification, and control of flexible-link manipulators that are required to carry payloads, possibly unknown and varying, while undergoing disturbance effects from the environment and the workspace.

Original language	English (US)
Pages (from-to)	41-46
Number of pages	6
Journal	IEEE Control Systems Magazine
Volume	10
Issue number	2
DOIs	https://doi.org/10.1109/37.45793
State	Published - Feb 1990

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Electrical and Electronic Engineering

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10.1109/37.45793

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abstract = "This paper reports on an ongoing effort for end-point position control of flexible-link manipulators under realistic conditions in laboratory setups consisting of one- and two-link manipulators. The paper treats modeling, identification, and control of flexible-link manipulators that are required to carry payloads, possibly unknown and varying, while undergoing disturbance effects from the environment and the workspace.",

author = "Stephen Yurkovich and Tzes, {Anthony P.}",

note = "Funding Information: This work was supported in part under NASA Grant NAG-1-720. The authors wish to acknowledge the contributions of several students in this ongoing effort, particularly Paul T. Kotnik and Fernando E. Pacheco, who were instmmental in generation of the experimental results presented here.",

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Experiments in Identification and Control of Flexible-Link Manipulators

Abstract

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