Title:
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)
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relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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