Wave-Based Analysis and Control of Lump-Modeled Flexible Robots

Flexible robots are frequently represented by lumped models. In the mechanics of lumped systems, wave concepts have been avoided, for good reasons, generally. In the control of lumped flexible systems, however, wave concepts prove very fruitful. This paper provides a foundation for the wave-based co...

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Veröffentlicht in:	IEEE transactions on robotics 2007-04, Vol.23 (2), p.342-352
1. Verfasser:	O'Connor, W.J.
Format:	Artikel
Sprache:	eng
Schlagworte:	Applied sciences Approximation Computer science control theory systems Control systems Control theory. Systems Dynamic systems Dynamic tests Dynamical systems Dynamics Exact sciences and technology flexible systems Force measurement lumped models mechanical waves Mechanics Optimal control Orbital robotics PD control Power system modeling Proportional control Robot control robot dynamics robot kinematics Robotics Robots Service robots Shape control Sliding mode control Strategy
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