Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments

DOI10.1016/S0005-1098(01)00130-3zbMath0997.93068OpenAlexW2068511460WikidataQ127015922 ScholiaQ127015922MaRDI QIDQ5950257

Rajni V. Patel, Khashayar Khorasani, M. Moallem

Publication date: 13 November 2002

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(01)00130-3

zbMATH Keywords

trackingobserversfeedback linearizationflexible link manipulatorsinverse dynamics controllerlink deflection speed observerPD controller

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Robot dynamics and control of rigid bodies (70E60)

Related Items (8)

Composite learning sliding mode control of flexible-link manipulator ⋮ End-effector trajectory tracking of flexible link parallel robots using servo constraints ⋮ End-effector trajectory tracking of a flexible link manipulator using integral manifold concept ⋮ Workspace tracking control of two-flexible-link manipulator using distributed control strategy ⋮ SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN ⋮ COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES ⋮ Experimental control of a single-link flexible robot arm using energy shaping ⋮ Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts

Uses Software

• Maple

Cites Work

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• Vibration control of a two-link flexible robot arm
• Active control of flexible systems
• Invertibility of Nonlinear Control Systems
• Inversion techniques for trajectory control of flexible robot arms
• An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators

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