Variable Structure End Point Control of a Flexible Manipulator

Authors

Shailaja Chenumalla, University of Nevada, Las VegasFollow
Sahjendra N. Singh, University of Nevada, Las VegasFollow

Document Type

Conference Proceeding

Publication Date

7-1993

Publication Title

Proceedings of International Conference in Systems Engineering

Publisher

University of Nevada, Las Vegas

First page number:

523

Last page number:

527

Abstract

We treat the question of control and stabilization of the elastic multibody system developed in the Phillips Laboratory, Edwards Air Force Base, California. The controlled output is judiciously chosen such that the zero dynamics are stable or almost stable. A variable structure control (VSC) law is derived for the end point trajectory control. Although, the VSC law accomplishes precise end point tracking, elastic modes are excited during the maneuver of the arm. A Linear stabilizer is designed for the final capture of the terminal state.

Keywords

Robotics; Robots — Control systems; Robots — Motion

Disciplines

Controls and Control Theory | Mechanical Engineering | Robotics

Comments

Conference held in Las Vegas, NV

Best copy available

Repository Citation

Chenumalla, S., Singh, S. N. (1993). Variable Structure End Point Control of a Flexible Manipulator. Proceedings of International Conference in Systems Engineering 523-527. University of Nevada, Las Vegas.
https://digitalscholarship.unlv.edu/ece_fac_articles/163