The article is concerned with the problem of modeling and control of flexible robots. This problem is faced by using the Hamiltonian approach and the assumed modes method to obtain an approximate finite dimensional model of the robot dynamics. The pseudoâlinearization method is then applied to design a nonlinear control law that is effective in the neighborhood of the operating points. The article ends with an application to a singleâlink robot arm. Copyright © 1989 Wiley Periodicals, Inc., A Wiley Company
Nicosia, S., Tomei, P., Tornambé, A. (1989). Hamiltonian description and dynamic control of flexible robots. JOURNAL OF ROBOTIC SYSTEMS, 6(4), 345-361 [10.1002/rob.4620060404].
Hamiltonian description and dynamic control of flexible robots
Nicosia, S.;Tomei, P.;Tornambé, A.
1989-01-01
Abstract
The article is concerned with the problem of modeling and control of flexible robots. This problem is faced by using the Hamiltonian approach and the assumed modes method to obtain an approximate finite dimensional model of the robot dynamics. The pseudoâlinearization method is then applied to design a nonlinear control law that is effective in the neighborhood of the operating points. The article ends with an application to a singleâlink robot arm. Copyright © 1989 Wiley Periodicals, Inc., A Wiley CompanyI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
