Control of manipulator with 2 flexible-links via energy modification method by using modal properties

Author

Yoshiki, Sugawara ; Ogata, Kazuya ; Kawa, Yoshi Kazu Haya

Author_Institution

Electron.-Mech. Eng., Nagoya Univ., Japan

Volume

2

fYear

2003

fDate

20-24 July 2003

Firstpage

1435

Abstract

In this paper, we show an approach to give control performance specifications to controller derived by Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) method. The closed loop system by such controller has mechanical properties. To evaluate the performance, we construct cost function by using the modal vector of the linearized closed loop system around equilibrium point. Simulation results and numerical analysis show the effectiveness of our approach.

Keywords

closed loop systems; controllers; flexible manipulators; vectors; 2 flexible-links; Damping Assignment-Passivity Based Control; Interconnection; closed loop system; controller; cost function; energy modification; equilibrium point; linearized closed loop system; manipulator control; mechanical properties; modal properties; modal vector; Closed loop systems; Control systems; Cost function; Damping; Lyapunov method; Manipulator dynamics; Mathematical model; Mechanical factors; Mechanical systems; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225554

Filename

1225554