The rigid-flexible nonlinear robotic manipulator: Modeling and control

Artigo

Fecha

2011-05-01

Registro en:

Communications In Nonlinear Science and Numerical Simulation. Amsterdam: Elsevier B.V., v. 16, n. 5, p. 2332-2341, 2011.

1007-5704

http://hdl.handle.net/11449/24886

10.1016/j.cnsns.2010.04.057

WOS:000286154500018

http://repositorioslatinoamericanos.uchile.cl/handle/2250/3898059

Autor

Universidade Federal do ABC (UFABC)

Universidade Estadual Paulista (Unesp)

Institución

Universidade Paulista Júlio de Mesquita Filho (Brasil)

Resumen

The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot. (C) 2010 Elsevier B.V. All rights reserved.

Materias

State-Dependent Riccati Equation

Robotic manipulator

Slewing motion

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