A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators
- 1 August 1988
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 7 (4) , 79-90
- https://doi.org/10.1177/027836498800700404
Abstract
The control of lightweight flexible manipulators is the focus of this work. Theflexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full-order flexible dynamic system does not allow the deter mination of a nonlinear feedback control as for rigid manipu lators, since there are not as many control inputs as output variables. This drawback is overcome by a model order reduction, based on a singular perturbation strategy, where the fast state variables are the elastic forces and their time derivatives.Keywords
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