Lyapunov-based control of macro-micro manipulator considering bending and torsional vibrations

被引：0

作者：

Morita, Y ^{[1
]}

Kimata, M ^{[1
]}

Ukai, H ^{[1
]}

Kando, H ^{[1
]}

Matsuno, F ^{[1
]}

机构：

[1] Nagoya Inst Technol, Dept Comp Sci & Engn, Fac Engn, Nagoya, Aichi 4668555, Japan

来源：

ROMOCO'05: PROCEEDINGS OF THE FIFTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2005年

关键词：

D O I：

10.1109/ROMOCO.2005.201444

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a Lyapunov-based positioning controller for a macro-micro manipulator suppressing the bending and torsional vibrations of the macro arm. On the basis of the distributed parameter model, the output feedback controller is constructed using the Lyapunov method. The asymptotic stability in the neighborhood of the desired states of the closed-loop system is proven. The proposed controller consists of the PD feedback of the motor angles and a feedback of the torsional strain at the tip of the macro arm. Some simulations are performed to show the effectiveness of the proposed controller.

引用

页码：325 / 330

页数：6

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