title: Comparison of some modeling and control issues for a flexible two link manipulator.
abstract: The nonlinear dynamics of a flexible two link manipulator presents a challenging modeling and control problem with its lumped actuator dynamics coupled with distributed link dynamics. Issues related to modeling uncertainty and control robustness as well as a good understanding of the experimental issues are essential for advanced modeling and control for such systems. This paper reports some of the advanced modeling, control, and experimental issues for a flexible two link manipulator, including some novel approaches developed by the authors.
authors.affiliation: Dept. of Mechanical and Aerospace Engineering, University of Missouri, Columbia, Missouri 65211, USA.
authors.forename: X
authors.initials: X
authors.lastname: Zhang
authors.forename: W
authors.initials: W
authors.lastname: Xu
authors.forename: S S
authors.initials: SS
authors.lastname: Nair
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D004548:Elasticity; D005246:Feedback; D008962:Models, Theoretical; D009038:Motion; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D013314:Stress, Mechanical