Feedback linearization of a flexible manipulator near its rigid body manifold (Q1061065)
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scientific article; zbMATH DE number 3908275
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Feedback linearization of a flexible manipulator near its rigid body manifold |
scientific article; zbMATH DE number 3908275 |
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Feedback linearization of a flexible manipulator near its rigid body manifold (English)
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1985
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The paper considers a model of flexible robotic manipulators described by a system of differential equations with a small parameter \(\epsilon\) in a derivative. Conditions are given under which there exists a feedback control law that linearizes the system restricted to a certain ''slow'' manifold. A computational method for approximate linearization is proposed.
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flexible robotic manipulators
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feedback control law
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''slow'' manifold
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approximate linearization
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