Title :
Modeling and control design for a flexible-link manipulator
Author :
Natarajan, K. ; Yu, S. ; Karray, F.
Author_Institution :
Dept. of Electr. Eng., Lakehead Univ., Thunder Bay, Ont., Canada
Abstract :
The development of linear and nonlinear models of a flexible-link manipulator in a typical experimental apparatus is discussed. Two types of controller designs to ensure accurate tip position and suppression of vibration at the tip are discussed. The first type is a PD controller for rigid body motion and a P controller for vibration suppression. The second type is a LQR controller. The performance of the controllers are verified on the experimental apparatus
Keywords :
control system synthesis; linear quadratic control; manipulators; position control; proportional control; two-term control; vibration control; LQR controller; P controller; PD controller; control design; flexible-link manipulator; linear models; modeling; nonlinear model; rigid body motion; tip position; vibration suppression; Control design; DC motors; Equations; PD control; Position measurement; Shafts; Sliding mode control; Strain measurement; Velocity measurement; Vibration control;
Conference_Titel :
Electrical and Computer Engineering, 1998. IEEE Canadian Conference on
Conference_Location :
Waterloo, Ont.
Print_ISBN :
0-7803-4314-X
DOI :
10.1109/CCECE.1998.682565
