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
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;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525400
