Abstract
In this paper, the Trajectory Pattern Method (TPM) is utilized as a technique for synthesizing motion trajectories and generating inverse dynamics model based feedforward control signals for vibration free maneuvers of multi-link flexible manipulators. This technique is an application of our earlier paper, where the Trajectory Pattern Method (TPM) was introduced as an inversion technique for nonlinear (including non-minimum phase) control systems. Specifically, using this method, a stable inverse for the flexible manipulator dynamics is obtained. The efficacy of this scheme is illustrated through experimental results on a two-link flexible manipulator at the Control/Robotics Research Laboratory (CRRL).
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3325-3330 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| State | Published - 1995 |
| Event | Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA Duration: Dec 13 1995 → Dec 15 1995 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization