제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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- Pages.321-321
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- 2000
슬라이딩 모드를 이용한 유연한 매니퓰레이터의 위치제어
Position Control for a Flexible Manipulator Using Sliding Modes
초록
This paper presents a sliding mode controller based on variable structure for the tip position control of a single-link flexible manipulator. Dynamic equations of a single-link flexible manipulator are derived from the Euler-Lagrange equation using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. Simulation results are presented to show the validity of the system modeling, controller design.