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Near-optimum control of flexible manipulators

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3 Author(s)
Xuemin Shen ; Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada ; Gourishankar, V.-G. ; Ming Rao

In this paper, the control problem for flexible manipulators is considered. The results are based on the singular perturbation formulation of flexible manipulator equations. A complete model of system dynamics is utilized in the design, but it is separated into slow (rigid) and fast (flexible) subsystems. A composite controller is obtained by combining a controller for the slow component and a second controller devoted to stabilizing the link compliance modes. Since the design method incorporates structural flexibility in the model, the results appear quite promising

Published in:

Electrical and Computer Engineering, 1993. Canadian Conference on

Date of Conference:

14-17 Sep 1993