... based on the information retrieved from the equivalent output injection signals. The proposed approach is tested on a nonlinear model of single link flexible joint robot system. 23 06 2008 18 01 2011 24 08 2011 24 08 2011 cascade control fault diagnosis flexible...

...William J. O’Connor; David J. McKeown This paper presents a new, robust, time-optimal control strategy for flexible manipulators controlled by acceleration-limited actuators. The strategy is designed by combining the well-known, open-loop, time-optimal solution with wave-based feedback control...

... feedback. 28 12 2007 18 12 2009 28 10 2010 28 10 2010 feedback flexible manipulators matrix algebra sensors Many methods exist for modeling flexible structures under some form of feedback control. The assumed modes method has been used by De Luca and Siciliano ( 1...

... of the manipulator tip tracking error and the control effort. A numerical example employing a two-link flexible manipulator is used to demonstrate the effectiveness of the optimal gain-scheduling algorithm. The closed-loop system performance is improved, and it is shown that the optimal scheduling signals...

.... flexible-joint robot backstepping intelligent control nonlinear systems output feedback variable-structure control neural networks flexible manipulators Lyapunov methods neurocontrollers observers state feedback variable structure systems 08 03 2007 18 02 2009 29 04 2009...

.... Feliu , V. , Rattan , K. S. , and Brown , H. B. , Jr. , 1990 , “ Adaptive Control of a Single-Link Flexible Manipulator ,” IEEE Control Syst. Mag. 0272-1708 10.1109/37.45791 , 10 ( 2 ), pp. 29 – 33 . Feliu , V. , Rattan , K. S. , and Brown , H. B. , 1988...

... linear quadratic Gaussian control singularly perturbed systems singular optimal control continuous time systems Kalman filters reduced order systems Riccati equations discrete time systems flexible manipulators Singular perturbation theory and control techniques to solve the singularly...

... are stable and can be inverted. An experimental setup of a single-link flexible manipulator is considered as a practical case study of a nonlinear nonminimum phase system. Experimental results are presented to illustrate the advantages and improved performance of the proposed tracking controller over both...

..., AND CONTROL . Manuscript received by the Dynamic Systems and Control Division September 22, 2003. Associate Technical Editor: C. D. Rahn. 22 September 2003 05 08 2004 flexible manipulators industrial manipulators manipulator dynamics In the recent years, the industry has been...

... 19 September 2003 05 08 2004 flexible manipulators Lyapunov methods piezoelectric actuators damping multidimensional systems convergence vibrations controllers The suppression of vibration is a problem of primary importance in many engineering fields, among which robotics...

... by the ASME Dynamic Systems and Control Division January 21, 2002; final revision, July 16, 2003. Associate Editor: R. Ghulil. 21 January 2002 16 July 2003 12 04 2004 vibration control flexible manipulators flexible structures Input shaping is a command generation scheme...

... August 2003 12 04 2004 end effectors industrial manipulators position control flexible manipulators stiction closed loop systems stability When precise control of the position of a mechanical system is the objective, nonlinearities such as stiction, Coulomb friction, backlash...

...M. Benosman; G. Le Vey; L. Lanari; A. De Luca In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular...

..., MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division October 22, 2001; final revision, April 22, 2003. Associate Editor: C. D. Rahn. 22 October 2001 22 April 2003 12 04 2004 flexible manipulators synchronisation tracking state feedback...

... using a Lyapunov function. The control of kinematically redundant, flexible manipulators was addressed in ( 19 ). Redundancy resolution and vibration minimization were achieved together by first obtaining the joint accelerations required using a generalized inverse, and then, among the infinitely...

...Qiao Sun 7 Simulation results for case 3 6 Simulation results for case 2 5 Simulation results for case 1 In the above paper, the vertical axis labels for Figs. 5 , 6 , and 7 were illegible. Corrected figures are provided below. flexible...

... , 112 , pp. 177 – 185 . Kwon , D. S. , and Book , W. J. , 1994 , “ A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator ,” ASME J. Dyn. Syst., Meas., Control , 116 ( 2 ), pp. 193 – 200 . Zhao, H., and Chen, D., 1993, “Exact and Stable Tip Trajectory...

..., AND CONTROL . Manuscript received by the Dynamic Systems and Control Division June 4, 2001. Associate Editor: C. Rahn. 04 June 2001 flexible manipulators position control tracking cooperative systems stability inverse problems manipulator dynamics actuators torque redundant...

... of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS . Manuscript Received by the Dynamics Systems and Control Division March 27, 2000. Associate Editor: C. Rahn. 27 March 2000 flexible manipulators multidimensional systems distributed control asymptotic stability variable structure systems...

..., “Active Vibration Control of a Single-Link Flexible Manipulator by Pole-Placement Approach,” IEEE Proceedings of 38th Conference on Decision and Control , Dec., pp. 3888–3893. Xu, J.-X., and Cao, W.-J., 2000, “A Direct Approach for Tip Position Regulation of a Single-Link Flexible Manipulator...