Title :
Dynamic modeling and sensor-based stable control for two-link flexible manipulators
Author :
Xiongwei, Yan ; Zhidong, Deng ; Zengqi, Sun
Author_Institution :
Lab. of Intelligent Technol. & Syst., Tsinghua Univ., Beijing, China
Abstract :
The dynamic modeling of two-link flexible manipulators is specially examined by means of Lagrange equations, assuming rigid arms and finite modal expansion. The obtained model is integrated with the dynamics of driving motors, as benefits the practical control. A sensor-based control strategy of separate joints is presented to suppress flexible vibrations, and the globally asymptotically stable closed-loop system is analyzed
Keywords :
Lyapunov methods; asymptotic stability; closed loop systems; flexible manipulators; manipulator dynamics; vibration control; Lagrange equations; dynamic modeling; finite modal expansion; flexible vibrations suppression; globally asymptotically stable closed-loop system; rigid arms; sensor-based stable control; two-link flexible manipulators; Arm; Control systems; Equations; Intelligent sensors; Intelligent systems; Laboratories; Lagrangian functions; Manipulator dynamics; Sun; Vibration control;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.862971
