DocumentCode
2338912
Title
Controller scaling laws for flexible link manipulators characterized by nondimensional Pi groups
Author
Ghanekar, Milind ; Wang, David W L ; Heppler, Glenn R.
Author_Institution
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Volume
6
fYear
1995
fDate
21-23 Jun 1995
Firstpage
4101
Abstract
The nondimensional groups which characterize dynamically equivalent single flexible link (SFL) manipulators are determined using the Buckingham Pi method of dimensional analysis. Scaling laws for continuous-time and discrete-time linear rational controllers are developed for dynamically equivalent SFL systems. These theoretical scaling laws are verified experimentally for a discrete PD control law
Keywords
flexible structures; manipulators; Buckingham Pi method; continuous-time linear rational controllers; controller scaling laws; dimensional analysis; discrete PD control law; discrete-time linear rational controllers; dynamically equivalent SFL systems; flexible link manipulators; nondimensional Pi groups; scaling laws; single flexible link manipulators; Design engineering; Equations; Length measurement; Manipulator dynamics; Mechanical variables measurement; PD control; Prototypes; Robots; System analysis and design; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.532703
Filename
532703
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