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

Ryu, Jee-Hwan and Kwon, Dong-Soo and Hannaford, Blake (2002) Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach. In: The 2nd Joint IEEE CSS/RAS International Workshop on Control Problems in Robotics and Automation.

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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 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.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CA Robotic Control
Divisions: Department of Electrical Engineering
Depositing User: Nava Aghdasi
Date Deposited: 12 Aug 2015 20:15
Last Modified: 12 Aug 2015 20:15
URI: http://brl.ee.washington.edu/eprints/id/eprint/242

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