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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Aoustin, Y. Chevallereau, C. |
| Copyright Year | 1993 |
| Description | Author affiliation: Lab. d'Automatique, Nantes Univ., France (Aoustin, Y.; Chevallereau, C.) |
| Abstract | The control of flexible robots is discussed. The flexible manipulator dynamic is derived on the basis of a finite-element type model. Nonlinear feedback control can be used with flexible arms. At most, the number of variables to be exactly linearized must be equal to the number of actuators. To overcome this drawback the singular perturbation strategy is used to give classic composite control. The slow subsystem can be shown to be the equivalent rigid-link robot. The computed torque method for slow control is selected. The fast control is designed to stabilize the fast subsystem around the equilibrium trajectory set up by the slow subsystem under the effect of the slow control. Results of this control method with one-and two-flexible-link robots are presented. |
| Starting Page | 737 |
| Ending Page | 742 |
| File Size | 469355 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818634502 |
| DOI | 10.1109/ROBOT.1993.292233 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1993-05-02 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Finite element methods Manipulators Perturbation methods Open loop systems Mathematical model Gravity Centralized control Robot control Feedback control Arm |
| Content Type | Text |
| Resource Type | Article |
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