Title :
Model reduction of a flexible one-link manipulator using power balancing approach
Author :
Li, Zhiqiang ; Han, Yuexin ; Sinha, Naresh K.
Author_Institution :
Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, Ont., Canada
Abstract :
Based on the concepts of system power and output power matrices for linear conservative systems, the power balanced realization of the model for a flexible one-link manipulator is derived. A reduced-order model has been obtained by eliminating those states that contribute little to the system power and the output power. It is shown that the reduced-order model represents the dominant features of the system
Keywords :
flexible structures; linear systems; manipulator dynamics; reduced order systems; state-space methods; flexible one-link manipulator; linear conservative systems; model reduction; output power matrices; power balancing approach; reduced-order model; system power; Electronic mail; Linear systems; Manipulator dynamics; Mechanical systems; Nonlinear dynamical systems; Power generation; Power system modeling; Reduced order systems; Space vehicles; Sufficient conditions;
Conference_Titel :
Circuits and Systems, 1993., Proceedings of the 36th Midwest Symposium on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-1760-2
DOI :
10.1109/MWSCAS.1993.343391
