Title :
Feedback linearizability of multi-link manipulations with one flexible link
Author :
Wang, David ; Vidyasagar, M.
Abstract :
The feedback linearization properties of a class of multilink manipulators with one flexible link are studied. This class includes the 5-bar-linkage and the elbow manipulator. It is shown that the input-output equations are feedback linearizable when the output variable is chosen appropriately. It is shown that the input-state equations are not feedback linearizable. Alternate methods of controlling these manipulators must be studied
Keywords :
feedback; linearisation techniques; robots; feedback linearization; flexible link; linearizability; multilink manipulation; robots; Control systems; Couplings; Elbow; Flexible manufacturing systems; Linear feedback control systems; Linear systems; Manipulator dynamics; Nonlinear equations; Pulp manufacturing; State feedback;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70532
