DocumentCode :
1862539
Title :
End-point trajectory control, stabilization, and zero dynamics of a three-link flexible manipulator
Author :
Yim, W.
Author_Institution :
Dept. of Mech. Eng., Nevada Univ., Las Vegas, NV, USA
fYear :
1993
fDate :
2-6 May 1993
Firstpage :
468
Abstract :
The question of end-point trajectory control of a flexible manipulator based on the nonlinear inversion technique is discussed. The manipulator has two rigid links and the third link is elastic. A parameterization of the cartesian coordinates of a point close to the end effector position is suggested. Using these coordinates as output variables, an inverse feedback control law is derived for tracking reference cartesian trajectories. The stability of the zero dynamics associated with the end point motion control is examined. For regulation of the end point to a fixed position, a linear stabilizer is designed to damp the elastic vibration
Keywords :
feedback; manipulators; position control; stability; cartesian coordinates; elastic vibration; end effector position; end-point trajectory control; inverse feedback control law; linear stabilizer; nonlinear inversion technique; rigid links; stabilization; three-link flexible manipulator; zero dynamics; Control systems; Manipulator dynamics; Mathematical model; Mechanical engineering; Motion control; Nonlinear control systems; Orbital robotics; Position control; Robot kinematics; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
Type :
conf
DOI :
10.1109/ROBOT.1993.291913
Filename :
291913
Link To Document :
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