论文信息 - Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm

Vibration Control of a Large Flexible Manipulator by a Small Robotic Arm

The vibration of a large flexible manipulator is suppressed by inertial forces induced by the joint torques of a small arm which is located at the tip of the large manipulator. The control of the small arm is studied based on a slow and fast submodel which are derived by applying the singular perturbation technique. A composite controller is designed to control the slow and fast motion.

Wayne J. Book | Soo Han Lee

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