Near-minimum-time control of a manipulator with flexible links.
نویسندگان
چکیده
منابع مشابه
Near-Minimum-Time Control of a Flexible Manipulator
Near-minimum-time control of flexible manipulators can be accomplished by designing a controller that tracks a reference maneuver. The control method presented here uses a near-minimum-time rigid-link reference maneuver to generate reference control torques and a Liapunov controller to make the flexible manipulator track the reference maneuver while reducing and eventually eliminating flexible ...
متن کاملCOMPARISON BETWEEN MINIMUM AND NEAR MINIMUM TIME OPTIMAL CONTROL OF A FLEXIBLE SLEWING SPACECRAFT
In this paper, a minimum and near-minimum time optimal control laws are developed and compared for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The control commands are considered as typical bang-bang with multiple symmetrical switches, the time optimal control solution for the rigid-body mode is obtained as a bang-bang function and app...
متن کاملNear-Minimum Time Optimal Control of Flexible Spacecraft during Slewing Maneuver
The rapid growth of space utilization requires extensive construction, and maintenance of space structures and satellites in orbit. 
This will, in turn, substantiate application of robotic systems in space. In this paper, a near-minimum-time optimal control law is developed for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The time op...
متن کاملNear-Minimum Time Optimal Control of Flexible Spacecraft during Slewing Maneuver
The rapid growth of space utilization requires extensive construction, and maintenance of space structures and satellites in orbit. This will, in turn, substantiate application of robotic systems in space. In this paper, a near-minimum-time optimal control law is developed for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The time opti...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
سال: 1989
ISSN: 0914-8825
DOI: 10.1299/jsmec1988.32.60