Nonlinear Modeling and Control of a Two-Link Hybrid Manipulator

被引：0
|
作者：
Reyhanoglu, Mahmut [1 ]
Hoffman, Derek [1 ]
de Wit, Jop [2 ]
机构：
[1] Embry Riddle Aeronaut Univ, Phys Sci Dept, Daytona Beach, FL 32114 USA
[2] ASML Netherlands BV, Veldhoven, Netherlands
来源：
2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2016年
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 slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. The results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.
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页数：5
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