Abstract
Experimental study of a dynamic model of flexible manipulators is presented in this paper. The basic idea of this modeling is to model each flexible link of the manipulator by several virtual rigid links and passive joints. First, the modeling scheme is described. The model parameters are identified by measured data of the real arm and the dynamic behavior of the models are compared with that of the real arm. The obtained results shows the validity of this modeling scheme. It also indicates that the number of the virtual joints does not need to be large in the case of our experimental flexible arm. Then, an LQ controller based on this model is proposed. The effectiveness of the proposed controller is verified by experimental results.
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References
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© 1997 Springer-Verlag London Limited
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Yoshikawa, T., Matsudera, K. (1997). Experimental study on modeling and control of flexible manipulators using virtual joint model. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035232
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DOI: https://doi.org/10.1007/BFb0035232
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