Title :
Output tracking and internal behavior of a flexible slewing link
Author :
Usco, G.F. ; Lanari, L.
Author_Institution :
Dept. di Ingegneria Ind., Univ. di Cassino, Italy
Abstract :
For a flexible slewing link whose tip angular position is required to track a desired trajectory it is possible to put in evidence some particular state trajectories which are naturally associated to the desired output time evolution. These can therefore be seen as a desired steady state internal behavior whose knowledge may help in physical interpretations both for the output tracking and stable inversion problems
Keywords :
flexible structures; inverse problems; manipulator dynamics; tracking; flexible slewing link; internal behavior; output time evolution; output tracking; stable inversion problems; state trajectories; tip angular position; Eigenvalues and eigenfunctions; Gravity; Linear systems; Manipulators; Payloads; Robot kinematics; Steady-state; Torque; Trajectory; Vectors;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657651
