{"title":"基于平移建模技术的多连杆机械臂状态空间控制","authors":"D. L. P. Bopearatchy, G. C. Hatanwala","doi":"10.1109/ISIC.1990.128470","DOIUrl":null,"url":null,"abstract":"An attempt is made to control a multi-link flexible robotic manipulator by a general state-space controller. A model for the complicated dynamics can be achieved by a physical modelling technique. Simulation tests on the control of a two-link robotic flexible manipulator are carried out. The fundamental mode of vibration is modeled by a piggyback translational spring-mass system, making the derivation of the mathematical model more simple. An optimal control technique is used in the design of the controller.<<ETX>>","PeriodicalId":377124,"journal":{"name":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","volume":"55 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"State space control of a multi link robot manipulator by a translational modelling technique\",\"authors\":\"D. L. P. Bopearatchy, G. C. Hatanwala\",\"doi\":\"10.1109/ISIC.1990.128470\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An attempt is made to control a multi-link flexible robotic manipulator by a general state-space controller. A model for the complicated dynamics can be achieved by a physical modelling technique. Simulation tests on the control of a two-link robotic flexible manipulator are carried out. The fundamental mode of vibration is modeled by a piggyback translational spring-mass system, making the derivation of the mathematical model more simple. An optimal control technique is used in the design of the controller.<<ETX>>\",\"PeriodicalId\":377124,\"journal\":{\"name\":\"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990\",\"volume\":\"55 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1990-09-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIC.1990.128470\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 5th IEEE International Symposium on Intelligent Control 1990","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1990.128470","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
State space control of a multi link robot manipulator by a translational modelling technique
An attempt is made to control a multi-link flexible robotic manipulator by a general state-space controller. A model for the complicated dynamics can be achieved by a physical modelling technique. Simulation tests on the control of a two-link robotic flexible manipulator are carried out. The fundamental mode of vibration is modeled by a piggyback translational spring-mass system, making the derivation of the mathematical model more simple. An optimal control technique is used in the design of the controller.<>
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