A SINGULAR PERTURBATION APPROACH TO CONTROL OF LIGHTWEIGHT FLEXIBLE MANIPULATORS

被引：346
|
作者：
SICILIANO, B [1 ]
BOOK, WJ [1 ]
机构：
[1] GEORGIA INST TECHNOL,GW WOODRUFF SCH MECH ENGN,ATLANTA,GA 30332
来源：
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1988年 / 7卷 / 04期
关键词：
CONTROL SYSTEMS - DYNAMICS;
D O I：
10.1177/027836498800700404
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The control lightweight flexible manipulators is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full-order flexible dynamic system does not allow the determination of a nonlinear feedback control as for rigid manipulators, since there are not as many control inputs as output variables. This drawback is ovecome by a model order reduction, based on a singular perturbation strategy, where the fast state variables are the elastic forces and their time derivatives.
引用
收藏
页码：79 / 90
页数：12
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