Title :
Dynamical properties of manipulators exhibiting flexibilities
Author :
Khorrami, Farshad
Abstract :
Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered
Keywords :
dynamics; feedback; linearisation techniques; nonlinear systems; robots; dynamic properties; flexible joints; link flexibility; manipulators; multibody flexible structures; nonlinear systems; nonminimum phase systems; partial feedback linearisation; zero dynamics;
Conference_Titel :
Systems Engineering, 1990., IEEE International Conference on
Conference_Location :
Pittsburgh, PA, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1990.203085
