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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Choi, S.B. Thompson, B.S. Gandhi, M.V. |
| Copyright Year | 1990 |
| Description | Author affiliation: Machine Elastodynamics Lab., East Lansing, MI, USA (Choi, S.B.; Thompson, B.S.; Gandhi, M.V.) |
| Abstract | The dynamic modeling and control of a single-link flexible manipulator fabricated from advanced composite laminates are addressed. The dynamic modeling is accomplished by employing Hamilton's principle and a finite-element formulation incorporating the Euler-Bernoulli beam theory. An output feedback controller associated with colocated angular position and velocity sensors is designed based on the reduced-order model and experimentally implemented in order to investigate the control performances of flexible manipulators fabricated from aluminum and composite laminates. The control performances are evaluated and compared for two manipulators through step responses of the system to a commanded angular position. It is shown that the manipulator fabricated from composite laminates has superior performance characteristics such as faster settling time, smaller input torque, and smaller overshoot relative to the manipulator fabricated from aluminum. |
| Starting Page | 1450 |
| Ending Page | 1455 |
| File Size | 467491 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818690615 |
| DOI | 10.1109/ROBOT.1990.126209 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-13 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Manipulator dynamics Laminates Angular velocity control Aluminum Finite element methods Output feedback Reduced order systems Control systems Performance evaluation Torque |
| Content Type | Text |
| Resource Type | Article |
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