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[185] Citation: J.H. Ryu, D.S. Kwon, B. Hannaford, 'Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach ,'
In "Control Problems in Robotics", pp. 121-134, Antonio Bicchi, Henrik I. Christensen, and Domenico Prattichizzo, Ed., Springer Tracts in Advanced Robotics Series, 003.
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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