DocumentCode
1206203
Title
Classical control design for a flexible manipulator: Modeling and control system design
Author
Ower, J.C. ; de Vegte, J.
Author_Institution
University of Toronto, Toronto, ON, Canada
Volume
3
Issue
5
fYear
1987
fDate
10/1/1987 12:00:00 AM
Firstpage
485
Lastpage
489
Abstract
A Lagrangian dynamics approach is used to model the planar motion of a manipulator consisting of two flexible links and two rotary joints. The equations are linearized and represented by a transfer function matrix. In addition a multivariable control system is designed by a technique based on classical methods.
Keywords
Flexible structures; Motion control; Robots; Transfer function matrices; Boundary conditions; Control design; Control system synthesis; Control systems; Equations; Kinematics; Lagrangian functions; Manipulator dynamics; Transfer functions; Transmission line matrix methods;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/JRA.1987.1087121
Filename
1087121
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