Title :
Controller scaling laws for flexible link manipulators characterized by nondimensional Pi groups
Author :
Ghanekar, Milind ; Wang, David W L ; Heppler, Glenn R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Abstract :
The nondimensional groups which characterize dynamically equivalent single flexible link (SFL) manipulators are determined using the Buckingham Pi method of dimensional analysis. Scaling laws for continuous-time and discrete-time linear rational controllers are developed for dynamically equivalent SFL systems. These theoretical scaling laws are verified experimentally for a discrete PD control law
Keywords :
flexible structures; manipulators; Buckingham Pi method; continuous-time linear rational controllers; controller scaling laws; dimensional analysis; discrete PD control law; discrete-time linear rational controllers; dynamically equivalent SFL systems; flexible link manipulators; nondimensional Pi groups; scaling laws; single flexible link manipulators; Design engineering; Equations; Length measurement; Manipulator dynamics; Mechanical variables measurement; PD control; Prototypes; Robots; System analysis and design; Systems engineering and theory;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532703
