DocumentCode
354080
Title
Dynamic modeling and sensor-based stable control for two-link flexible manipulators
Author
Xiongwei, Yan ; Zhidong, Deng ; Zengqi, Sun
Author_Institution
Lab. of Intelligent Technol. & Syst., Tsinghua Univ., Beijing, China
Volume
3
fYear
2000
fDate
2000
Firstpage
2102
Abstract
The dynamic modeling of two-link flexible manipulators is specially examined by means of Lagrange equations, assuming rigid arms and finite modal expansion. The obtained model is integrated with the dynamics of driving motors, as benefits the practical control. A sensor-based control strategy of separate joints is presented to suppress flexible vibrations, and the globally asymptotically stable closed-loop system is analyzed
Keywords
Lyapunov methods; asymptotic stability; closed loop systems; flexible manipulators; manipulator dynamics; vibration control; Lagrange equations; dynamic modeling; finite modal expansion; flexible vibrations suppression; globally asymptotically stable closed-loop system; rigid arms; sensor-based stable control; two-link flexible manipulators; Arm; Control systems; Equations; Intelligent sensors; Intelligent systems; Laboratories; Lagrangian functions; Manipulator dynamics; Sun; Vibration control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location
Hefei
Print_ISBN
0-7803-5995-X
Type
conf
DOI
10.1109/WCICA.2000.862971
Filename
862971
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