Modelling and control of a flexible manipulator with a parallel drive mechanism†
- 1 August 1986
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 44 (2) , 299-313
- https://doi.org/10.1080/00207178608933600
Abstract
A flexible manipulator having a parallel drive mechanism is treated. Only the forearm of the manipulator is assumed to be flexible, because it is slender and carries a heavy end-effector. Both the elastic vibration of the arm, which occurs owing to flexibility, and the position of the driving motors should be controlled simultaneously. A partial differential equation and the boundary conditions that govern the clastic vibration of the arm are derived, and the related eigenvalue problem is solved. On the basis of a finite-dimensional modal model of the distributed-parameter systems, an optimal feedback control system is constructed by using the outputs of several sensors.Keywords
This publication has 4 references indexed in Scilit:
- Re-definition of the robot motion control problem: Effects of plant dynamics, drive system constraints, and user requirementsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1984
- Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive MechanismJournal of Dynamic Systems, Measurement, and Control, 1984
- Feedback Control of Second Order Evolution Equations with DampingSIAM Journal on Control and Optimization, 1984
- Linear Optimal ControlJournal of Dynamic Systems, Measurement, and Control, 1971