Analytical Modelling and Nonlinear Strain Feedback Control of a Flexible Robot ARM

被引：4
|
作者：
Bolandi, H. [1 ]
Esmaeilzadeh, S. M. [1 ]
机构：
[1] Iran Univ Sci & Technol, Dept Elect Engn, Daneshgah Ave, Tehran, Iran
来源：
AUTOMATIC CONTROL AND COMPUTER SCIENCES | 2008年 / 42卷 / 05期
关键词：
flexible manipulator; nonlinear control; extended Hamilton's principle; assumed mode method;
D O I：
10.3103/S0146411608050027
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a full nonlinear analytical model of a single link flexible manipulator consisting of a rotary joint and a flexible link, handling uniform payload at the tip considering its inertia is developed based on extended Hamilton-assumed mode method. Due to model nonlinearities, a nonlinear control strategy directly based on the strain gauges measurements attached in some locations of the link is investigated. Effectiveness of the controller in vibration suppressing and fast motion duration tracking capability is shown through simulation.
引用
收藏
页码：236 / 248
页数：13
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