Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/481
Full metadata record
DC FieldValueLanguage
dc.contributor.authorSubudhi, B-
dc.contributor.authorMorris, A S-
dc.date.accessioned2007-09-14T09:51:34Z-
dc.date.available2007-09-14T09:51:34Z-
dc.date.issued2001-
dc.identifier.citationProceedings of the Institution of Mechanical Engineers, Vol 215, Part I, p 587-598en
dc.identifier.urihttp://hdl.handle.net/2080/481-
dc.descriptionCopyright for the article belongs to the Institution of Mechanical Engineers.en
dc.description.abstractThe singular perturbation approach has been shown to be successful in controlling both flexible link manipulators and flexible joint manipulators. In this paper, the technique is extended to control both link and joint flexibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form, Euler–Lagrange, assumed-mode model of a multilink manipulator has been formulated in which the eVects of the link and joint flexibility are incorporated. This is then converted into a two-time-scale, state-space, singular perturbation model where the slow subsystem involves the link angles and the fast subsystem consists of the joint deflection and the link deflection variables. A composite controller is designed based on the two-time-scale model of the flexible link and joint manipulator. Numerical simulation results confirm that the proposed controller satisfactorily suppresses the tip deflection and joint flexibility of the manipulator Numerical simulation results confirm that the proposed controller satisfactorily suppresses the tip deflection and joint flexibility of the manipulator while very good trajectory tracking is achieved.en
dc.format.extent1442264 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoen-
dc.publisherInstitution of Mechanical Engineersen
dc.subjectsingular perturbationen
dc.subjectflexible linken
dc.subjectflexible jointsen
dc.subjectcomposite controlen
dc.subjecttrajectory trackingen
dc.titleOn the singular perturbation approach to trajectory control of a multilink manipulator with flexible links and jointsen
dc.typeArticleen
Appears in Collections:Journal Articles

Files in This Item:
File Description SizeFormat 
imecpapersubudhi.pdf1.41 MBAdobe PDFView/Open


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.