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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chang, Liang-Wey Kirkland, Michael |
| Copyright Year | 1990 |
| Description | Author affiliation: Department of Mechanical Engineering Neval Postgraduate School Monterey, CA 93943 (Chang, Liang-Wey; Kirkland, Michael) |
| Abstract | This paper presents an implementation of a nonlinear motion control that was developed for a flexible-single-link arm based on the Equivalent Rigid Link System (ERLS) dynamic model and the inverse dynamics of the arm and the actuator. The arm moves in a vertical plane and is actuated by an electrohydraulic motor. The control scheme is simplified and implemented on a general purpose 16-bit micro-computer. The dynamic behavior of the control system is studied through the computer simulation and the experiment. Furthermore, the superiority of the flexible-body control is also proved through the comparison to the rigid-body control. |
| Starting Page | 1214 |
| Ending Page | 1219 |
| File Size | 417896 |
| Page Count | 6 |
| File Format | |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-23 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Motion control Actuators Manipulator dynamics Nonlinear dynamical systems Capacitive sensors Control systems Nonlinear equations Steel Bars Shape control |
| Content Type | Text |
| Resource Type | Article |
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