Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation

This paper presents nonlinear dynamic modeling and control of flexible-link manipulators subjected to parametric excitation. The equations of motion are obtained using the Lagrangian-assumed modes method. Singular perturbation methodology is developed for the nonlinear time varying equations of moti...

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Veröffentlicht in:	Nonlinear dynamics 2010-12, Vol.62 (4), p.769-779
Hauptverfasser:	El-Badawy, Ayman A., Mehrez, Mohamed W., Ali, Amir R.
Format:	Artikel
Sprache:	eng
Schlagworte:	Automotive Engineering Classical Mechanics Computation Computer simulation Control Control systems Dynamic models Dynamical Systems Engineering Equations of motion Excitation Manipulators Mathematical models Mechanical Engineering Model reduction Nonlinear control Nonlinear dynamics Nonlinear equations Nonlinearity Original Paper Perturbation methods Positioning devices (machinery) Robot arms Singular perturbation Torque Vibration
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