Summary
A mathematical model of the dynamics of a multi-link flexible manipulator is derived by using Hamilton’s principle. It is described by a bundle of nonlinear coupled partial differential equations with nonhomogeneous natural and geometric boundary conditions. Application of Galerkin’s modal expansion method for this model yields a nonlinear lumped-parameter differential equation with finitely large or infinite dimension including centrifugal and Coriolis forces. Stability of PD and PDS (PD + Strain) feedback control schemes is discussed on the basis of Liapunov’s method applied for the lumped — parameter model.
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Lee,H.G.; Arimoto, S.; Miyazaki, F.: Liapunov stability analysis for PDS control of flexible multi-link manipulators, Proc. of 27th IEEE CDC. Dec. (1988)
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© 1990 Springer-Verlag Berlin Heidelberg
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Arimoto, S., Lee, H.G., Miyazaki, F. (1990). Liapunov Stability Analysis for Control of Flexible Manipulators. In: Schiehlen, W. (eds) Nonlinear Dynamics in Engineering Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83578-0_2
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DOI: https://doi.org/10.1007/978-3-642-83578-0_2
Publisher Name: Springer, Berlin, Heidelberg
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