Title :
State space control of a multi link robot manipulator by a translational modelling technique
Author :
Bopearatchy, D.L.P. ; Hatanwala, G.C.
Author_Institution :
Arizona State Univ., Tempe, AZ, USA
Abstract :
An attempt is made to control a multi-link flexible robotic manipulator by a general state-space controller. A model for the complicated dynamics can be achieved by a physical modelling technique. Simulation tests on the control of a two-link robotic flexible manipulator are carried out. The fundamental mode of vibration is modeled by a piggyback translational spring-mass system, making the derivation of the mathematical model more simple. An optimal control technique is used in the design of the controller
Keywords :
control system analysis; dynamics; optimal control; robots; state-space methods; dynamics; fundamental vibration mode; multi link robot manipulator; optimal control; physical modelling technique; piggyback translational spring-mass system; simulation tests; state-space controller; translational modelling; Capacitive sensors; Control systems; Force control; Manipulators; Mathematical model; Orbital robotics; Rotors; Springs; State-space methods; Vibration control;
Conference_Titel :
Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-2108-7
DOI :
10.1109/ISIC.1990.128470
