Study on Joint Characteristics and the Stability of the Flexible Manipulator Considering the Control Performance

Wei Guo Shen; Jin Tian Yun

doi:10.4028/www.scientific.net/AMM.34-35.1119

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 34-35Study on Joint Characteristics and the Stability...

Study on Joint Characteristics and the Stability of the Flexible Manipulator Considering the Control Performance

Abstract:

For flexible manipulator, the analysis of the joint characteristics and the stability become very important for controller design. The boundary conditions of the flexible manipulator with noncollocated P controller and collocated P controller are developed in this paper. And the stability of the flexible manipulator is also discussed.

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Periodical:

Applied Mechanics and Materials (Volumes 34-35)

Pages:

1119-1123

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.34-35.1119

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Online since:

October 2010

Authors:

Wei Guo Shen, Jin Tian Yun

Keywords:

Collocated P Controller, Flexible Manipulator, Noncollocated P Controller, Stability

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