Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach

Ryu, Jee-Hwan and Kwon, Dong-Soo and Hannaford, Blake (2004) Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach. IEEE Trans. on Robotics, 20 (4). pp. 776-780.

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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 be treated with the previous time domain passivity control framework due to a possible active transfer function from the input to the noncollocated output. The proposed method is simulated with a single link flexible manipulator and a good control performance is obtained.

Item Type: Article
Subjects: C Surgical Robots > CA Robotic Control
Divisions: Department of Electrical Engineering
Depositing User: Mohammad Haghighipanah
Date Deposited: 30 Jul 2015 17:57
Last Modified: 30 Jul 2015 17:57
URI: http://brl.ee.washington.edu/eprints/id/eprint/217

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