Feedback linearizability of multi-link manipulations with one flexible link

7 January 2003

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 2072-2077 vol.3
https://doi.org/10.1109/cdc.1989.70532

Abstract

The feedback linearization properties of a class of multilink manipulators with one flexible link are studied. This class includes the 5-bar-linkage and the elbow manipulator. It is shown that the input-output equations are feedback linearizable when the output variable is chosen appropriately. It is shown that the input-state equations are not feedback linearizable. Alternate methods of controlling these manipulators must be studied.<>

Keywords

MANIPULATOR DYNAMICS
NONLINEAR EQUATIONS
CONTROL SYSTEMS
STATE FEEDBACK
COUPLINGS
ELBOW
LINEAR SYSTEMS
LINEAR FEEDBACK CONTROL SYSTEMS
FLEXIBLE MANUFACTURING SYSTEMS
PULP MANUFACTURING

This publication has 2 references indexed in Scilit:

Transfer functions for a single flexible link
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
New directions of research in nonlinear system theory
Proceedings of the IEEE, 1986