Abstract:
A partial differential equation model for a flexible two-link manipulator is derived using the Hamilton principle. A stable strain feedback control design is then propose...Show MoreMetadata
Abstract:
A partial differential equation model for a flexible two-link manipulator is derived using the Hamilton principle. A stable strain feedback control design is then proposed based on insights into the dynamics. Stability is established using a Lyapunov-based design approach. A two-link hardware setup is used to validate the analytical model and the proposed stable control design. This control approach, which is energy based; can also be extended to multi-arm flexible link configurations.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619