Title :
Near-optimum control of flexible manipulators
Author :
Shen, Xuemin ; Gourishankar, V.-G. ; Rao, Ming
Author_Institution :
Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
Abstract :
In this paper, the control problem for flexible manipulators is considered. The results are based on the singular perturbation formulation of flexible manipulator equations. A complete model of system dynamics is utilized in the design, but it is separated into slow (rigid) and fast (flexible) subsystems. A composite controller is obtained by combining a controller for the slow component and a second controller devoted to stabilizing the link compliance modes. Since the design method incorporates structural flexibility in the model, the results appear quite promising
Keywords :
dynamics; large-scale systems; manipulators; optimal control; stability; composite controller; design method; flexible manipulators; link compliance modes; near-optimum control; singular perturbation; structural flexibility; system dynamics; Control systems; Costs; Design methodology; Energy efficiency; Equations; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robot kinematics; Shape;
Conference_Titel :
Electrical and Computer Engineering, 1993. Canadian Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2416-1
DOI :
10.1109/CCECE.1993.332272
