Structural vibrations of flexible robots are not always fullycontrollable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of thevibration modes, and thus cannot control their vibrations. Thisproblem has been neglected in the case of the one-link and twolinkplanar manipulators; however, it must be dealt with indepth when trying to control a 3D flexible robot. This paperdiscusses the vibration controllability of flexible manipulators.Vibration uncontrollable conflgurations are estimated both bythe minimum singular values of the controllability matrix andthe closed-loop behavior. A 2-link 3-joint prototype flexible manipulatoris used for a case study, and the uncontrollable configurationsof the manipulator are found.
|ジャーナル||Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME|
|出版ステータス||Published - 1997 6|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用