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Classical control design for a flexible manipulator: Modeling and control system design

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2 Author(s)
Ower, J. ; University of Toronto, Toronto, ON, Canada ; de Vegte, J.

A Lagrangian dynamics approach is used to model the planar motion of a manipulator consisting of two flexible links and two rotary joints. The equations are linearized and represented by a transfer function matrix. In addition a multivariable control system is designed by a technique based on classical methods.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 5 )

Date of Publication:

October 1987

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