Title :
A three-stage controller design for trajectory tracking and vibration suppression of two-link flexible manipulator
Author :
Shi, Z.X. ; Lu, Y.F. ; Duan, J.C. ; Fung, E.H.K.
Abstract :
In this paper, a simple and general procedure by means of the gauge principle is employed for the formulation of the governing equations of a flexible manipulator. A three-stage control method for the two-link flexible manipulator is presented. The experimental results of straight line tracking are given to demonstrate the effectiveness of this control law
Keywords :
flexible structures; manipulator dynamics; manipulator kinematics; position control; vibration control; gauge principle; governing equations; straight line tracking; three-stage controller; trajectory tracking; two-link flexible manipulator; vibration suppression; Capacitive sensors; Equations; Kinematics; Laboratories; Manipulator dynamics; Mechanical engineering; Robots; Sampling methods; Trajectory; Vibration control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573436
