Distributed Parameter Modeling and Boundary Control of Flexible Manipulators by Jinkun Liu & Wei He

Author:Jinkun Liu & Wei He
Language: eng
Format: epub
Publisher: Springer Singapore, Singapore

5. Boundary Control for Flexible Manipulator with Exponential Convergence

Jinkun Liu1 and Wei He2

(1)School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

(2)University of Science and Technology Beijing, Beijing, China

Jinkun Liu

Email: [email protected]

The flexible manipulator system will cause small deformation and elastic vibration because of its flexible characteristics. It will become large deformation vibration if the flexibility is large enough. The motion and vibration of a flexible manipulator are coupled and interacting with each other, which will interfere with the performance of the robot arm. In severe cases, the elastic vibration of the boom will destroy the stability of the whole system and even make the whole robot system out of control and invalid. Therefore, how to weaken the vibration of the flexible manipulator in motion is an urgent problem that needs to be solved.

In this chapter, to weaken the vibration of the manipulator, the boundary control method with exponential convergence is designed.

Download

Copyright Disclaimer:
This site does not store any files on its server. We only index and link to content provided by other sites. Please contact the content providers to delete copyright contents if any and email us, we'll remove relevant links or contents immediately.