Large Planar Maneuvers for Articulated Flexible Manipulators

By: Nasa, National Aeronautics and Space Adm

An articulated flexible manipulator carried on a translational cart is maneuvered by an active controller to perform certain position control tasks. The nonlinear dynamics of the articulated flexible manipulator are derived and a transformation matrix is formulated to localize the nonlinearities within the inertia matrix. Then a feedback linearization scheme is introduced to linearize the dynamic equations for controller design. Through a pole placement technique, a robust controller design is obtained by properly assigning a set of closed-loop desired eigenvalues to meet performance requirements. Numerical simulations for the articulated flexible manipulators are given to demonstrate the feasibility and effectiveness of the proposed position control algorithms. Huang, Jen-Kuang and Yang, Li-Farn Unspecified Center NAG1-830...

• Format: Paperback
• Language: English
• ISBN: 1729045995
• ISBN13: 9781729045992
• Release Date: January 1
• Publisher: Independently Published
• Length: 30 Pages
• Weight: 0.21 lbs.
• Dimensions: 0.1" x 8.5" x 11.0"