Title :
Controllability analysis of a rotating body with flexible beams
Author_Institution :
Inst. of Appl. Math. & Mech., Acad. of Sci., Donetsk, Ukraine
Abstract :
The paper is focused on the controllability property of a rotating rigid body endowed with a number of the Euler-Bernoulli beams. A nonlinear mathematical model of the system considered is obtained within the framework of Lagrangian formalism. It is pointed out that a finite-dimensional approximation of the system is not flat. The linearized dynamics is shown to be controllable, provided that there is no resonance in the system.
Keywords :
controllability; flexible manipulators; manipulator dynamics; Euler-Bernoulli beams; Lagrangian formalism; controllability analysis; finite-dimensional approximation; flexible beams; flexible manipulators; linearized dynamics; manipulator dynamics; nonlinear mathematical model; rotating rigid body; Control systems; Controllability; Distributed parameter systems; Lagrangian functions; Mathematics; Mechanical factors; Mechanical systems; Nonlinear dynamical systems; Resonance; Robots;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177132
