Large planar maneuvers for articulated flexible manipulatorsAn articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities in the inertia matrix. Then a feeback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms.
Document ID
19880062994
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Huang, Jen-Kuang (Old Dominion Univ. Norfolk, VA, United States)
Yang, Li-Farn (Old Dominion University Norfolk, VA, United States)
Juang, Jer-Nan (NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Report/Patent Number
AIAA PAPER 88-4119
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference