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Browse Journals & Magazines > Robotics, IEEE Transactions on ...> Volume:20 Issue:4 Help

Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach

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3 Author(s)
Jee-Hwan Ryu ; Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea ; Dong-Soo Kwon ; Hannaford, B.

A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control framework due to a possible active transfer function from the input to the noncollocated output. The proposed method is simulated with a single-link flexible manipulator, and a good control performance is obtained.

Published in:
Robotics, IEEE Transactions on  (Volume:20 ,  Issue: 4 )

Date of Publication: Aug. 2004

Page(s):
776 - 780
ISSN :
1552-3098
INSPEC Accession Number:
8076711
Digital Object Identifier :
10.1109/TRO.2004.829454
Product Type:
Journals & Magazines
Date of Current Version :
09 August 2004
Issue Date :
Aug. 2004
Sponsored by :
IEEE Robotics and Automation Society

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