Effect of the joint inertia on selection of under-actuated control algorithm for flexible-link manipulators

DOI10.1016/J.MECHMACHTHEORY.2010.03.003zbMath1307.70025OpenAlexW2020739890MaRDI QIDQ1957262

Ayman A. El-Badawy, Mohamed W. Mehrez

Publication date: 24 September 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.03.003

zbMATH Keywords

singular perturbationcomputed torqueflexible manipulatorjoint inertia

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (2)

Model-free composite control of flexible manipulators based on adaptive dynamic programming ⋮ Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator

Cites Work

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• Trajectory tracking control of robots with flexible links
• Robust control of multilink flexible manipulators.
• On the feedforward torques and reference trajectory for flexible two-link arm
• Applications of Singular Perturbation Techniques to Control Problems
• Hybrid control scheme for robust tracking of two-link flexible manipulator
• A new approach to the modeling of distributed structures for control

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