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Modeling and control of a planar manipulator with an elastic forearm

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1 Author(s)

A complete nonlinear dynamic model for a planar 2-DOF manipulator with an elastic forearm is derived. A nonlinear strain-displacement relationship is used to describe the kinematic foreshortening of the forearm. This effect is important in obtaining a correct derivation of the nonlinear terms that depend on the first-order generalised elastic coordinates. Using a Lyapunov stability theorem, the global asymptotic stability of an independent proportional-derivative (PD) feedback law is demonstrated. Simulation results compare the performance of the PD control law to that of a full-state feedback law. An experimental testbed in development is described, and preliminary experimental results are discussed

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989