DocumentCode
299945
Title
Robust cooperative control of two one-link flexible arms
Author
Matsuno, Fumitoshi ; Yamamoto, Kazuo ; Kasai, Seizaburo
Author_Institution
Fac. of Eng., Kobe Univ., Japan
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
925
Abstract
In this paper, a dynamic model and robust controllers are developed for two one-link flexible arms holding a rigid object in a horizontal workspace. On the basis of the exact model we derive a finite dimensional modal model. To compensate the spillover instability an optimal controller with low-pass property and a robust H∞ controller are constructed. A set of simulations has been carried out
Keywords
H∞ control; Jacobian matrices; cooperative systems; feedback; manipulator dynamics; motion compensation; multidimensional systems; robust control; H∞ controller; Jacobian matrix; dynamic model; feedback control; finite dimensional modal model; optimal controller; rigid object handling; robust cooperative control; spillover instability; two one-link flexible arms; Arm; Equations; Force control; Lagrangian functions; Manipulator dynamics; Optimal control; Orbital robotics; Robust control; Service robots; Space stations;
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.1995.525401
Filename
525401
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