DocumentCode
2765381
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.
Volume
3
fYear
1996
fDate
11-13 Dec 1996
Firstpage
2361
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.573436
Filename
573436
Link To Document