Title :
Observability of a flexible manipulator with a payload
Author :
Zuyev, Alexander L.
Author_Institution :
Inst. of Appl. Math. & Mech., Nat. Acad. of Sci. of Ukraine, Donetsk, Ukraine
Abstract :
A control system describing the dynamics of a flexible-link robot manipulator is considered. Observability conditions are derived for the output signal as the raising angle and the strain at a fixed point of the manipulator. An explicit procedure for observer design is proposed based on the Barbashin-Krasovskii-LaSalle invariance principle. This result justifies a possibility of implementing the state feedback controller.
Keywords :
Lyapunov methods; flexible manipulators; observability; state feedback; Barbashin-Krasovskii-LaSalle invariance principle; Galerkin approximation; Lyapunov method; flexible arms; flexible manipulator; observability; observer design; robot manipulator; state feedback controller; Control systems; Equations; Feedback control; Frequency; Manipulator dynamics; Mathematics; Moment methods; Observability; Payloads; Robots;
Conference_Titel :
Physics and Control, 2005. Proceedings. 2005 International Conference
Print_ISBN :
0-7803-9235-3
DOI :
10.1109/PHYCON.2005.1514038
