PERTURBATION METHODS IN CONTROL OF FLEXIBLE LINK MANIPULATORS.

Farshad Khorrami, Umit Ozguner

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

Abstract

The resolution of the dynamics of flexible manipulators into rigid and flexible modes is considered. The decoupling is established on the single-link case by singular perturbation techniques. The flexural effects of the manipulator on its rigid-body motion are included by using the higher-order terms in the asymptotic expansion. The model used is the integro-partial-differential equation resulting from the extended Hamiltonian principle. Use of ths model, rather than a finite-dimensional approximation, yields more insight and a more compact way of obtaining the higher-order terms that represent the coupling between the rigid and the flexure modes. Asymptotic perturbation techniques are utilized to generate a composite control law.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages310-315
Number of pages6
ISBN (Print)0818608528
StatePublished - 1988

ASJC Scopus subject areas

  • Engineering(all)

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