Experiments on the control of flexible-link manipulators carrying large payloads

被引：0
|
作者：
Christoforou, EG [1 ]
Damaren, CJ [1 ]
机构：
[1] Univ Canterbury, Dept Mech Engn, Christchurch 1, New Zealand
来源：
EXPERIMENTAL ROBOTICS VI | 2000年 / 250卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The control problem for flexible multilink robots carrying large payloads is revisited and a globally stable controller together with its adaptive companion is considered. Both controllers were derived on the basis of a set of nonlinear approximate equations describing the payload dominated dynamics of the robot in conjunction with the passivity property of a suitably defined modified input/output pair for the system. Their ability to combine end-point tracking with simultaneous vibration suppression is demonstrated by a set of experimental results concerning a three degree-of-freedom planar robot with two flexible links.
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页码：445 / 454
页数：10
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