منابع مشابه
QFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملHybrid Concepts of the Control and Anti-Control of Flexible Joint Manipulator
This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...
متن کاملReaction null-space control of flexible structure mounted manipulator systems
A composite control law for end-effector path tracking with a flexible structure mounted manipulator system is proposed, such that no disturbances on the flexible base are induced. The control law is based on the reaction null space concept introduced earlier to tackle dynamic interaction problems of freefloating robots, or moving base robots in general. The control law is called composite sinc...
متن کاملqft control of a two-link rigid-flexible manipulator
this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...
متن کاملAdaptive Control of Flexible Joint Manipulator
In this paper control of a flexible joint manipulator is designed using an adaptive output-feedback controller based on a backstepping design. The parameters of system are assumed to be unknown and only motor position and link position measurements are used for the synthesis of the controller. A canonical state representation of the system is derived and filters are designed to obtain the estim...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
سال: 1996
ISSN: 0959-6518,2041-3041
DOI: 10.1243/pime_proc_1996_210_444_02