Scaling laws for frequency domain controllers of dynamically equivalent single flexible link manipulators

Scaling laws for frequency domain controllers of dynamically equivalent single flexible link manipulators

The nondimensional groups which characterize a group of dynamically equivalent single flexible link (SFL) manipulators are determined. A scaling law for linear rational controllers is developed for dynamically equivalent SFL systems. As an example of the applicability of this theoretical scaling law...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Ghanekar, M., Wang, D.W.L., Heppler, G.R.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Damping
Design engineering
Equations
Frequency domain analysis
Heart
Manipulator dynamics
Motion control
Prototypes
Systems engineering and theory
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Beschreibung
Zusammenfassung:The nondimensional groups which characterize a group of dynamically equivalent single flexible link (SFL) manipulators are determined. A scaling law for linear rational controllers is developed for dynamically equivalent SFL systems. As an example of the applicability of this theoretical scaling law to even sophisticated control techniques, it is verified experimentally for an H/sub /spl infin// control strategy.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1995.525400