DocumentCode
299944
Title
Scaling laws for frequency domain controllers of dynamically equivalent single flexible link manipulators
Author
Ghanekar, Milind ; Wang, David W L ; Heppler, Glenn R.
Author_Institution
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
919
Abstract
The nondimensional groups which characterize a group of dynamically equivalent single flexible link (SFL) manipulators are determined. A scaling law for linear rational controllers is developed for dynamically equivalent SFL systems. As an example of the applicability of this theoretical scaling law to even sophisticated control techniques, it is verified experimentally for an H∞ control strategy
Keywords
flexible structures; frequency-domain synthesis; manipulators; H∞ control strategy; dynamically equivalent single flexible link manipulators; frequency-domain controllers; linear rational controllers; nondimensional groups; scaling law; Control systems; Damping; Design engineering; Equations; Frequency domain analysis; Heart; Manipulator dynamics; Motion control; Prototypes; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525400
Filename
525400
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