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Trajectory tracking control of robots with flexible links
Date
2002-11-01
Author
Ider, SK
Özgören, Mustafa Kemal
Ay, V
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A new method is developed for the end-effector trajectory tracking control of robots with flexible links. In order to cope with the non-minimum phase property of the system, the closed-loop poles are placed at desired locations using full state feedback. The dynamic equations are linearized about the rigid motion. A composite control law is designed to track the desired trajectory while at the same time the internal dynamics is stabilized. The proposed method is valid for all types of manipulators with any degree of freedom. A two link manipulator is simulated to illustrate the performance of the method. (C) 2002 Elsevier Science. Ltd. All rights reserved.
Subject Keywords
Tip-position tracking
,
Inverse dynamics
,
Design
URI
https://hdl.handle.net/11511/30955
Journal
MECHANISM AND MACHINE THEORY
DOI
https://doi.org/10.1016/s0094-114x(02)00043-5
Collections
Graduate School of Natural and Applied Sciences, Article
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S. Ider, M. K. Özgören, and V. Ay, “Trajectory tracking control of robots with flexible links,”
MECHANISM AND MACHINE THEORY
, pp. 1377–1394, 2002, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/30955.