DocumentCode
2335195
Title
Development of a software package for a flexible link manipulator
Author
Kwok, N.M. ; Lee, C.K.
Author_Institution
Dept. of Electron. Eng., Hong Kong Inst. of Vocational Educ., China
fYear
2000
fDate
1-1 April 2000
Firstpage
58
Lastpage
63
Abstract
The design of a controller for a flexible manipulator is a complicated task due to vibrations inherent in the manipulator. A software package is developed as a test-bed for such a task. The package assumes a Euler-Bernoulli beam carrying a payload, moving horizontally and is driven by a DC motor. It runs on the MATLAB platform with interactive user interfaces for the adjustment of beam and system parameters. Simulation results are displayed on screen and can be saved in disk files. A real-time animation is also included.
Keywords
computer animation; control system CAD; flexible manipulators; software packages; three-term control; user interfaces; variable structure systems; Euler-Bernoulli beam; MATLAB platform; controller design; flexible link manipulator; interactive user interfaces; real-time animation;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 2000. Proceedings. 6th International Workshop on
Conference_Location
Nagoya, Japan
Print_ISBN
0-7803-5976-3
Type
conf
DOI
10.1109/AMC.2000.862827
Filename
862827
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