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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bayo, E. Moulin, H. |
| Copyright Year | 1989 |
| Description | Author affiliation: Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA (Bayo, E.; Moulin, H.) |
| Abstract | The problem of controlling the endpoint motion of flexible arms is addressed. A finite-element discretization of the system is carried out to obtain a set of ordinary differential equations that describe the motion of the manipulator. Theoretical and numerical difficulties pertaining to the inverse dynamic problem for flexible arms in the time domain are exposed. A novel time domain algorithm, much more efficient than that in the frequency domain, is presented. It is shown that the algorithm leads to the desired noncausal solution, and it eliminates the instability problems that arise if a direct integration scheme is used. Since the impulse response function can be computed offline, the only online computational burden consists of calculating convolution integrals. These can be integrated in real time. Extensions to the multilink case are discussed. |
| Starting Page | 710 |
| Ending Page | 715 |
| File Size | 486757 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818619384 |
| DOI | 10.1109/ROBOT.1989.100068 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1989-05-14 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Manipulator dynamics Robots Open loop systems Motion control Feedback Control systems Frequency domain analysis Arm Vibration control Optimal control |
| Content Type | Text |
| Resource Type | Article |
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