Title:
A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
dc.contributor.author | Kwon, Dong-Soo | |
dc.contributor.author | Book, Wayne J. | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.date.accessioned | 2011-06-16T20:48:39Z | |
dc.date.available | 2011-06-16T20:48:39Z | |
dc.date.issued | 1994-06 | |
dc.description | ©1994 The American Society of Mechanical Engineers | en_US |
dc.description | Digital Object Identifier: http://dx.doi.org/10.1115/1.2899210 | |
dc.description.abstract | A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase, noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator. The inverse dynamic equation of a single-link flexible manipulator was solved in the time-domain. By dividing the inverse system equation into its causal part and anticausal part, the inverse dynamic method calculates the feed-forward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-link manipulator, the effectiveness of the inverse dynamic method in producing fast and vibration-free motion has been demonstrated. | en_US |
dc.identifier.citation | Kwon, D.-S., and W.J. Book, “A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator,” J. Dynamic Systems, Measurement, and Control, Vol. 116, pp. 193-200, June 1994, pp. 193-200. | en_US |
dc.identifier.issn | 0022-0434 | |
dc.identifier.uri | http://hdl.handle.net/1853/39174 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | The American Society of Mechanical Engineers | |
dc.subject | Flexible manipulators | en_US |
dc.subject | Link flexibility | en_US |
dc.subject | Dynamic methods | en_US |
dc.title | A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator | en_US |
dc.type | Text | |
dc.type.genre | Article | |
dspace.entity.type | Publication | |
local.contributor.author | Book, Wayne J. | |
local.contributor.corporatename | George W. Woodruff School of Mechanical Engineering | |
local.contributor.corporatename | College of Engineering | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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