NDLI: Modeling and control of a slewing nonlinear flexible arm with tip body

Content Provider	IEEE Xplore Digital Library
Author	Ohsumi, A. Kadowaki, T. Sensui, O.
Copyright Year	1996
Description	Author affiliation: Dept. of Mech. & Syst. Eng., Kyoto Inst. of Technol., Japan (Ohsumi, A.)
Abstract	This paper deals with the nonlinear dynamic modeling and control of a slewing flexible arm with eccentric tip body. Both bending and torsion motion of the arm is allowed and the modeling preserves the kinematic nonlinearities of the maneuvering arm. Control is accomplished by a motor equipped at the base of the manipulator. The Lagrangian formulation is treated in deriving mathematical model which reveals to be nonlinear and to consist of one ordinary differential equation and two partial differential ones. Using the Lie theoretic approach and the boundary homogenization technique, the nonlinear system is partially linearized with its inhomogeneous boundary conditions transformed to homogeneous ones. By introducing an idea of equivalent linearization, positioning control incorporating both rigid motion control and vibration suppression is obtained in a feedback form. Finally, several numerical simulation results are presented to demonstrate the effectiveness of the proposed theory.
Starting Page	2683
Ending Page	2689
File Size	539331
Page Count	7
File Format	PDF
ISBN	0780335902
ISSN	01912216
DOI	10.1109/CDC.1996.573509
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-12-13
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Kinematics Manipulator dynamics Lagrangian functions Mathematical model Differential equations Nonlinear systems Boundary conditions Linear feedback control systems Vibration control
Content Type	Text
Resource Type	Article

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