Convergence Analysis of an Inverse Flexible Manipulator Model Algorithm

DOI10.1177/107754603030705MaRDI QIDQ4809425zbMATH OpenOpenAlexFDO

Authors Pascal Bigras, Jules O'Shea, Maarouf Saad

Publication date 24 August 2004

Published in Journal of Vibration and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1177/107754603030705

zbMATH Keywords

convergence analysisFlexible manipulatorinverse modeltrajectory tracking

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60) Thin bodies, structures (74K99)

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• Inversion techniques for trajectory control of flexible robot arms

Cites work

• A bisection method for computing the \(H_{\infty}\) norm of a transfer matrix and related problems
• A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
• Control of a Class of Manipulators With a Single Flexible Link: Part I—Feedback Linearization
• Dynamics of Flexible Manipulator Arms: Alternative Derivation, Verification, and Characteristics for Control
• Exponential trajectory tracking control in the workspace of a class of flexible robots
• Real Time Estimation of Elastic Deformation for End-Point Tracking Control of Flexible Two-Link Manipulators
• Trajectory control of a non-linear one-link flexible arm

Cited in

(3)

• Rational fraction model for regularized inverse dynamics of a flexible manipulator
• Workspace tracking control of two-flexible-link manipulator using distributed control strategy
• Accuracy of Discrete Models for the Solution of the Inverse Dynamics Problem for Flexible Arms, Feasible Trajectories

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