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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Khorrami, F. Ozguner, U. |
| Copyright Year | 1988 |
| Description | Author affiliation: Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA (Khorrami, F.; Ozguner, U.) |
| Abstract | The resolution of the dynamics of flexible manipulators into rigid and flexible modes is considered. The decoupling is established on the single-link case by singular perturbation techniques. The flexural effects of the manipulator on its rigid-body motion are included by using the higher-order terms in the asymptotic expansion. The model used is the integro-partial-differential equation resulting from the extended Hamiltonian principle. Use of this model, rather than a finite-dimensional approximation, yields more insight and a more compact way of obtaining the higher-order terms that represent the coupling between the rigid and the flexure modes. Asymptotic perturbation techniques are utilized to generate a composite control law. |
| Starting Page | 310 |
| Ending Page | 315 |
| File Size | 437209 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818608528 |
| DOI | 10.1109/ROBOT.1988.12066 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1988-04-24 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Perturbation methods Manipulator dynamics Differential equations Gravity Robot kinematics Lagrangian functions Shape Systems engineering and theory Control systems Arm |
| Content Type | Text |
| Resource Type | Article |
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