Flexible-link robot manipulators. Control techniques and structural design

zbMath0968.70002MaRDI QIDQ1593854

M. Moallem, Rajni V. Patel, Khashayar Khorasani

Publication date: 28 January 2001

Published in: Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

zbMATH Keywords

nonlinear systemsfeedback controlrobot manipulatorszero dynamicstrajectory tracking controlinternal dynamicssoftware implementationstructural flexibilityflexible-link manipulatorsnonminimum-phase characteristicstructural shape designtwo-time scale modeling

Mathematics Subject Classification ID

Control, switches and devices (``smart materials) in solid mechanics (74M05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02)

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Two approaches for feedforward control and optimal design of underactuated multibody systems ⋮ Trajectory Control of Serial and Parallel Flexible Manipulators Using Model Inversion ⋮ Trajectory tracking of a single flexible-link robot using a modal cascaded-type control

Uses Software

• Spline Toolbox

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