Title :
Classical control design for a flexible manipulator: Modeling and control system design
Author :
Ower, J.C. ; de Vegte, J.
Author_Institution :
University of Toronto, Toronto, ON, Canada
fDate :
10/1/1987 12:00:00 AM
Abstract :
A Lagrangian dynamics approach is used to model the planar motion of a manipulator consisting of two flexible links and two rotary joints. The equations are linearized and represented by a transfer function matrix. In addition a multivariable control system is designed by a technique based on classical methods.
Keywords :
Flexible structures; Motion control; Robots; Transfer function matrices; Boundary conditions; Control design; Control system synthesis; Control systems; Equations; Kinematics; Lagrangian functions; Manipulator dynamics; Transfer functions; Transmission line matrix methods;
Journal_Title :
Robotics and Automation, IEEE Journal of
DOI :
10.1109/JRA.1987.1087121
