Title :
Robust cooperative control of two one-link flexible arms
Author :
Matsuno, Fumitoshi ; Yamamoto, Kazuo ; Kasai, Seizaburo
Author_Institution :
Fac. of Eng., Kobe Univ., Japan
Abstract :
In this paper, a dynamic model and robust controllers are developed for two one-link flexible arms holding a rigid object in a horizontal workspace. On the basis of the exact model we derive a finite dimensional modal model. To compensate the spillover instability an optimal controller with low-pass property and a robust H∞ controller are constructed. A set of simulations has been carried out
Keywords :
H∞ control; Jacobian matrices; cooperative systems; feedback; manipulator dynamics; motion compensation; multidimensional systems; robust control; H∞ controller; Jacobian matrix; dynamic model; feedback control; finite dimensional modal model; optimal controller; rigid object handling; robust cooperative control; spillover instability; two one-link flexible arms; Arm; Equations; Force control; Lagrangian functions; Manipulator dynamics; Optimal control; Orbital robotics; Robust control; Service robots; Space stations;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525401
