DocumentCode
3079015
Title
Modeling, design, and control of flexible manipulator arms: a tutorial review
Author
Book, Wayne J.
Author_Institution
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fYear
1990
fDate
5-7 Dec 1990
Firstpage
500
Abstract
High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are first examined. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed
Keywords
control system synthesis; position control; robots; control system synthesis; design; dynamic behavior; flexible manipulator arms; modeling; motion control; robots; Arm; Differential equations; Kinetic energy; Manipulator dynamics; Mathematical model; Mechanical engineering; Partial differential equations; Potential energy; Springs; Tutorial;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location
Honolulu, HI
Type
conf
DOI
10.1109/CDC.1990.203648
Filename
203648
Link To Document