Study on Joint Characteristics and the Stability of the Flexible Manipulator Considering the Control Performance
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.
Shengyi Li, Yingchun Liu, Rongbo Zhu, Hongguang Li, Wensi Ding
W. G. Shen and J. T. Yun, "Study on Joint Characteristics and the Stability of the Flexible Manipulator Considering the Control Performance", Applied Mechanics and Materials, Vols. 34-35, pp. 1119-1123, 2010