Title :
A controller with impulse force moment design for two-links flexible manipulator
Author :
Xiaoguang, Li ; Junyi, Liu
Author_Institution :
Coll. of Inf. Sci. & Eng., Jilin Vocational Teachers´´ Univ., Changchun, China
Abstract :
A method of impulse force moment control is established for vertical planar two-links flexible manipulators. The elastic vibrations of two-link manipulators are decoupled from the flexible manipulator. The asymptotic stability of joint trajectory tracking control are proved. The simulation results show that, the elastic vibrations of two links manipulator are restrained when the tip trajectory of manipulator is being traced with this method.
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; flexible manipulators; manipulator dynamics; position control; vibrations; asymptotic stability; elastic vibrations; impulse force moment control; joint trajectory tracking control; tip trajectory; two-links flexible manipulator; Automatic control; Equations; Force control; Manipulator dynamics; Motion control; Symmetric matrices; Trajectory; Transmission line matrix methods; Velocity control; Vibration control;
Conference_Titel :
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN :
0-7803-7268-9
DOI :
10.1109/WCICA.2002.1020091
