Abstract
Vibration control of flexible-link manipulators is considered. A nonlinear partial differential equation describing the dynamics of a two-link planar manipulator with a flexible forearm is derived. The zero-dynamics of a rigid/flex (hybrid) manipulator are given. Thereafter, different controllers are synthesized. The controller design strategies are based on an inner-loop controller which corresponds to the rigid body motion of the manipulator, taking into consideration the vibrations of the manipulator, and an outer-loop controller for further vibration damping and robustness enhancement of the closed-loop dynamics to parameter variations in the system. The measurements used in the outer-loop controller are obtained through accelerometer and strain gages mounted on the flexible forearm. The control methodologies advocated are applicable to multilink flexible manipulators.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 175-180 |
| Number of pages | 6 |
| Journal | Proceedings of the American Control Conference |
| DOIs | |
| State | Published - 1990 |
| Event | Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: May 23 1990 → May 25 1990 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering