제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Trajectory control of a flexible manipulator with a prismatic joint

  • Park, Chang-Yong (Dept. of Mechanical Engineering, University of Osaka Prefecture) ;
  • Ono, Toshiro (Dept. of Mechanical Engineering, University of Osaka Prefecture) ;
  • Nishibayashi, Tatsuya (Dept. of Mechanical Engineering, University of Osaka Prefecture)
  • Published : 1992.10.01
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Abstract

The tracking control problem of a flexible manipulator with a prismatic joint along a given path is discussed. The nondimensionalization of the elastic part of the manipulator makes it possible to model such a flexible manipulator. For a discontinuous velocity trajectory, an optimal control theory has been applied to formulate the problem. The optimal scheme is given to find the input commands(e.g., joint torques) necessary to produce a, specified end effector motion. Simulated results show the potential use of this scheme for a discontinuous velocity trajectory control.

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