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RESEARCH PAPERS

Point Control of a One-Link Flexible Manipulator

[+] Author and Article Information
S. B. Skaar, D. Tucker

Department of Engineering Science and Mechanics, Iowa State University, Ames, Iowa 50011

J. Appl. Mech 53(1), 23-27 (Mar 01, 1986) (5 pages) doi:10.1115/1.3171731 History: Received October 26, 1984; Revised April 15, 1985; Online July 21, 2009

Abstract

An alternative approach to the control of nonrigid, distributed parameter systems is presented. Transfer functions that relate the response of points on the system to a controlling force or torque are used in place of ordinary differential equations, which represent an approximation to the system dynamics. The implications of this “point control” approach are discussed with regard to plant modeling accuracy, uncontrolled regions, open-loop and closed-loop control strategies, system identification, and feedback estimation. Sample optimal control histories are illustrated for a single-link manipulator member with end load.

Copyright © 1986 by ASME
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