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Control design for 3D flexible link mechanisms using linearized models
Conference proceeding   Peer reviewed

Control design for 3D flexible link mechanisms using linearized models

E Shojaei Barjuei, Paolo Boscariol, Alessandro Gasparetto, M Giovagnoni and Renato Vidoni
Advances on Theory and Practice of Robots and Manipulators conference: Proceedings of the Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Vol.22, pp.181-188
Mechanisms and Machine Science, 22
Romansy 2014 - Advances on Theory and Practice of Robots and Manipulators (Moscow, 23/06/2014 - 26/06/2014)
2014
DOI: https://doi.org/10.1007/978-3-319-07058-2_21
Handle:
https://hdl.handle.net/10863/33625

Abstract

Control Dynamic model Flexible links mechanisms Spatial mechanism
This paper presents an approach to the optimal control of a spatial flexible mechanism. A highly accurate dynamic model of the system is briefly resumed. Then, in order to be able to employ the classical optimal control theory, a linearization of the model with consideration of gravity force is done. After that the chosen optimal control is described, and the most important results of the simulation are presented and discussed.
url
https://dx.doi.org/10.1007/978-3-319-07058-2_21View

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