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[164] Citation: Jee-Hwan Ryu, Dong-Soo Kwon, Blake Hannaford, 'Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach,'
The 2nd Joint IEEE CSS/RAS International Workshop on Control Problems in Robotics and Automation, pp. 89-101, Las Vegas, 2002.
Abstract
A new method to control a flexible manipulator with noncollocated feedback is proposed.
We introduce a method to implement the time domain passivity control approach
to a flexible manipulator with noncollocated feedback, which could not betreated with the previous
time domain passivity control framework due to a possibly active transfer
function from the
collocated output to the noncollocated output. The developed method is simulated
with the model of a single link flexible manipulator and we obtained a good
control performance.
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Updated: Tue Jul 15 23:54:51 2008
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