Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators
نویسندگان
چکیده
منابع مشابه
Tip Trajectory Tracking for Multilink Flexible Manipulators Using Stable Inversion
The recently developed stable inversion theory for nonminimum phase nonlinear systems is applied to output tracking for multilink exible robot manipulators. The stable inversion theory and a numerical solution to stable inverses are brie y reviewed. Forward dynamics of a two-link exible manipulatorwith tip position as the output is then given using the assumed modes method. From that, an i...
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ژورنال
عنوان ژورنال: Mathematics and Mechanics of Complex Systems
سال: 2019
ISSN: 2325-3444,2326-7186
DOI: 10.2140/memocs.2019.7.159