Title :
A Python Module for Modeling and Control Design of Flexible Robots
Author :
Krauss, Ryan W. ; Book, Wayne J.
Author_Institution :
Southern Illinois Univ., Edwardsville
Abstract :
This article discusses the creation of a python module for object-oriented modeling and control design of flexible robots using the transfer matrix method (TMM). The authors overcame several theoretical hurdles to apply the TMM to practical flexible robots and have experimentally validated the python module´s modeling capabilities.
Keywords :
control system synthesis; robots; control design; flexible robots; object-oriented modeling; python module; transfer matrix method; Control design; Feedback loop; Flexible structures; Hydraulic actuators; Motion control; Object oriented modeling; Robotics and automation; Robots; Software packages; Structural beams; Python; artificial intelligence; computer languages; mechanical engineering; robots;
Journal_Title :
Computing in Science & Engineering
DOI :
10.1109/MCSE.2007.44
