Passivity-based control of single-link flexible manipulators using a linear strain feedback

Volume: 71, Pages: 191 - 208
Published: Jan 1, 2014
Abstract
This work presents a new methodology for the design of a passivity-based control of single-link flexible manipulators. The control objective is the precise positioning of the link tip under large payload changes, which is achieved by combining a precise joint positioning with a link vibration damping. The main ingredients of the proposed methodology are as follows: a) a linear strain feedback is used to decouple the joint and link dynamics, b)...
Paper Details
Title
Passivity-based control of single-link flexible manipulators using a linear strain feedback
Published Date
Jan 1, 2014
Volume
71
Pages
191 - 208
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