Comparison of some modeling and control issues for a flexible two link manipulator.
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.
Zhang
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X
Dept. of Mechanical and Aerospace Engineering, University of Missouri, Columbia, Missouri 65211, USA.
Xu
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W
Nair
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D000465:Algorithms; D003198:Computer Simulation; D004548:Elasticity; D005246:Feedback; D008962:Models, Theoretical; D009038:Motion; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D013314:Stress, Mechanical