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Passive Dynamic Controllers for Non-Linear Mechanical SystemsThe objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.
Document ID
19920018539
Acquisition Source
Langley Research Center
Document Type
Presentation
Authors
Jer-Nan Juang
(Langley Research Center Hampton, Virginia, United States)
Shih-Chin Wu
(Langley Research Center Hampton, Virginia, United States)
Minh Phan
(Langley Research Center Hampton, Virginia, United States)
Richard W Longman
(Langley Research Center Hampton, Virginia, United States)
Date Acquired
September 6, 2013
Publication Date
December 10, 1991
Publication Information
Publication: Automation and Robotics for Space-Based Systems
Publisher: National Aeronautics and Space Administration
Issue Publication Date: March 1, 1992
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: Workshop on Automation and Robotics for Space-Based Systems
Location: Hampton, VA
Country: US
Start Date: December 10, 1991
Sponsors: Langley Research Center
Accession Number
92N27782
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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