Title:
Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators

dc.contributor.author Siciliano, Bruno
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.contributor.corporatename Universita di Napoli. Dipartimento di informatica e sistemistica
dc.date.accessioned 2011-06-22T13:31:49Z
dc.date.available 2011-06-22T13:31:49Z
dc.date.issued 1986
dc.description.abstract The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case of flexibility at links it has been shown that there is no analogue of the well established computed torque method widely adopted for rigid arm control. Under the assumption that the flexible dynamics is faster than the rigid dynamics, singular perturbation theory provides an engineering tool for reduced order modeling. The resulting slow subsystem allows the determination of a tracking control as for rigid manipulators, since the number of control variables equals that of control led variables. For the fast subsystem an additive control is in charge of stabilizing the deflections along the joint angle trajectory. The result is a composite control strategy which combines the advantages of rigidity ("controllability") with those of flexibility ("lightweight compliant structures"). en_US
dc.identifier.uri http://hdl.handle.net/1853/39275
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Flexible link manipulators dynamics en_US
dc.subject Tracking robot control en_US
dc.subject Singular perturbation en_US
dc.subject Model order reduction en_US
dc.subject Composite control en_US
dc.title Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators 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 c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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