Vibration controllability of 3d flexible manipulators

S. Lopez-Linares, A. Konno, M. Uchiyama

    研究成果: Article査読

    8 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ(範囲)326-330
    ページ数5
    ジャーナルJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
    119
    2
    DOI
    出版ステータスPublished - 1997 6

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • 情報システム
    • 器械工学
    • 機械工学
    • コンピュータ サイエンスの応用

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