DocumentCode
2786474
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
fYear
1990
fDate
5-7 Sep 1990
Firstpage
285
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on
Conference_Location
Philadelphia, PA
ISSN
2158-9860
Print_ISBN
0-8186-2108-7
Type
conf
DOI
10.1109/ISIC.1990.128470
Filename
128470
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