Control of a flexible manipulator with noncollocated feedback: Time-domain passivity approach
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Ryu, Jee-Hwan | ko |
| dc.contributor.author | Kwon, Dong-Soo | ko |
| dc.contributor.author | Hannaford, Blake | ko |
| dc.date.accessioned | 2007-10-04T05:20:56Z | - |
| dc.date.available | 2007-10-04T05:20:56Z | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.created | 2012-02-06 | - |
| dc.date.issued | 2004-08 | - |
| dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.20, no.4, pp.776 - 780 | - |
| dc.identifier.issn | 1042-296X | - |
| dc.identifier.uri | http://hdl.handle.net/10203/1633 | - |
| dc.description.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. | - |
| dc.description.sponsorship | This work was supported in part by a grant from Ford Motor Company, and in part by the Postdoctoral Fellowship Program of the Korea Science and Engineering Foundation (KOSEF). | en |
| dc.language | English | - |
| dc.language.iso | en_US | en |
| dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
| dc.title | Control of a flexible manipulator with noncollocated feedback: Time-domain passivity approach | - |
| dc.type | Article | - |
| dc.identifier.wosid | 000223187200017 | - |
| dc.identifier.scopusid | 2-s2.0-4344680329 | - |
| dc.type.rims | ART | - |
| dc.citation.volume | 20 | - |
| dc.citation.issue | 4 | - |
| dc.citation.beginningpage | 776 | - |
| dc.citation.endingpage | 780 | - |
| dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | - |
| dc.identifier.doi | 10.1109/TRO.2004.829454 | - |
| dc.embargo.liftdate | 9999-12-31 | - |
| dc.embargo.terms | 9999-12-31 | - |
| dc.contributor.localauthor | Ryu, Jee-Hwan | - |
| dc.contributor.localauthor | Kwon, Dong-Soo | - |
| dc.contributor.nonIdAuthor | Hannaford, Blake | - |
| dc.description.isOpenAccess | N | - |
| dc.type.journalArticle | Article | - |
| dc.subject.keywordAuthor | flexible manipulator | - |
| dc.subject.keywordAuthor | noncollocated feedback | - |
| dc.subject.keywordAuthor | passivity controller (PC) | - |
| dc.subject.keywordAuthor | passivity observer (PO) | - |
| dc.subject.keywordAuthor | time-domain passivity | - |
| dc.subject.keywordPlus | ROBOT | - |
| dc.subject.keywordPlus | SYSTEMS | - |
| dc.subject.keywordPlus | ARM | - |
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