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Feedback Stabilization of a System of Rigid Bodies with a Flexible Beam

  • Alexander Zuyev
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 396)

Introduction

Dynamical models of flexible-link robot manipulators are generally described by a set of coupled ordinary and partial differential equations, which gives rise to series of mathematical control problems in infinite dimensional spaces [1, 2, 3, 7]. However, finite dimensional approximate models obtained by the assumed modes and finite elements methods are used more frequently for solving the motion planning and stabilization problems [6]. It should be emphasized that the majority of publications in this area is concentrated on planar manipulator models with a free end. To study spatial manipulators with a tip mass, the mathematical model that describes the motion of a multi-link manipulator under the action of gravity and controls (torques and forces) was proposed in [8].

Keywords

Rigid Body Mild Solution Robot Manipulator Feedback Stabilization Flexible Beam 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Zuyev, A.: Partial asymptotic stabilization of nonlinear distributed parameter systems. Automatica. 41, 1–10 (2005)zbMATHCrossRefMathSciNetGoogle Scholar
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    Zuyev, A.L.: Modeling of a spatial flexible manipulator with telescoping (in Russian). In: Proceedings of the Institute of Applied Mathematics and Mechanics (Tr. Inst. Prikl. Mat. Mekh.), vol. 10, pp. 51–58 (2005)Google Scholar

Copyright information

© Springer London 2009

Authors and Affiliations

  • Alexander Zuyev
    • 1
  1. 1.Alexander Zuyev Institute of Applied Mathematics and MechanicsNational Academy of Sciences of UkraineDonetskUkraine

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