Control of a flexible manipulator with noncollocated feedback: Time-domain passivity approach

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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.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2004-08
Language
ENG
Article Type
Article
Keywords

ROBOT; SYSTEMS; ARM

Citation

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.20, no.4, pp.776 - 780

ISSN
1042-296X
DOI
10.1109/TRO.2004.829454
URI
http://hdl.handle.net/10203/1633
Appears in Collection
ME-Journal Papers(저널논문)
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