Title :
Modeling, design, and control of flexible manipulator arms: a tutorial review
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are first examined. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed
Keywords :
control system synthesis; position control; robots; control system synthesis; design; dynamic behavior; flexible manipulator arms; modeling; motion control; robots; Arm; Differential equations; Kinetic energy; Manipulator dynamics; Mathematical model; Mechanical engineering; Partial differential equations; Potential energy; Springs; Tutorial;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203648
