A SINGULAR PERTURBATION APPROACH TO CONTROL OF LIGHTWEIGHT FLEXIBLE MANIPULATORS

被引：347

作者：

SICILIANO, B ^{[1
]}

BOOK, WJ ^{[1
]}

机构：

[1] GEORGIA INST TECHNOL,GW WOODRUFF SCH MECH ENGN,ATLANTA,GA 30332

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1988年 / 7卷 / 04期

关键词：

CONTROL SYSTEMS - DYNAMICS;

D O I：

10.1177/027836498800700404

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The control lightweight flexible manipulators is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full-order flexible dynamic system does not allow the determination of a nonlinear feedback control as for rigid manipulators, since there are not as many control inputs as output variables. This drawback is ovecome by a model order reduction, based on a singular perturbation strategy, where the fast state variables are the elastic forces and their time derivatives.

引用

页码：79 / 90

页数：12

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