A Study for CP Control of Two-Link Flexible Manipulator Using Subspace Control(<Special Issue>D & D 2008)

CP control of a two-link planar flexible manipulator is studied. The method to derive the optimal trajectory of the state variables and the computed torque wherein the tip position of the manipulator follows an arbitrary continuous path accurately is proposed. The exact trajectory of the state varia...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	Transactions of the Japan Society of Mechanical Engineers Series C 2009/05/25, Vol.75(753), pp.1397-1404
Hauptverfasser:	MATSUZAKI, Kenichiro, KONDOU, Takahiro, SOWA, Nobuyuki, SHIOTA, Takayuki, SHINOZAKI, Jun, SONOBE, Motomichi
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	Computed Torque Method CP Control Flexible Manipulator Modal Analysis Motion Control Subspace Control
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!