Experiments on rigid body based controllers with input preshaping for a two-link flexible manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Input precompensators in conjunction with linear and nonlinear rigid body based controllers for flexible-link manipulators are considered in this paper. The objective is to preshape the reference input signals. This is accomplished by convolving the reference signal with a sequence of impulses so that a vibration free output is achieved. The time of the application of the impulses is dependent upon the modal frequencies and the amplitudes are functions of the damping of the modal frequencies. Experimental and simulation results on a two-link flexible manipulator show the effectiveness of the advocated controllers.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages2957-2961
Number of pages5
ISBN (Print)0780302109, 9780780302105
DOIs
StatePublished - 1992
EventProceedings of the 1992 American Control Conference - Chicago, IL, USA
Duration: Jun 24 1992Jun 26 1992

Publication series

NameProceedings of the American Control Conference
Volume4
ISSN (Print)0743-1619

Other

OtherProceedings of the 1992 American Control Conference
CityChicago, IL, USA
Period6/24/926/26/92

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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