On the feedforward torques and reference trajectory for flexible two-link arm

DOI10.1023/A:1009875908235zbMath0962.74039OpenAlexW168375503MaRDI QIDQ1975651

Alexander M. Formalskii, Yannick Aoustin

Publication date: 27 April 2000

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1009875908235

zbMATH Keywords

reference trajectorydamped elastic vibrationsflexible two-link armtime-suboptimal control law

Mathematics Subject Classification ID

Control, switches and devices (``smart materials) in solid mechanics (74M05) Vibrations in dynamical problems in solid mechanics (74H45) Experimental work for problems pertaining to mechanics of deformable solids (74-05) Thin bodies, structures (74K99) Robot dynamics and control of rigid bodies (70E60)

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Effect of the joint inertia on selection of under-actuated control algorithm for flexible-link manipulators ⋮ The control of an elastic manipulator taking into account the useful load and the force of gravity

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