期刊
JOURNAL OF VIBRATION AND CONTROL
卷 20, 期 11, 页码 1718-1726出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/1077546312474945
关键词
Flexible robotic arm; nonlinear dynamics; decomposed dynamic control; vibration control
资金
- Fundamental Research Funds for the Central University (China)
- China Scholarship Council
- Hokkaido University
- Japan Society for the Promotion of Science (JSPS) [KAKENHI 22560215]
This paper presents a theoretical and experimental investigation on a flexible robotic arm. The dynamic processes of the arm involve flexible and rigid motion components. The associated dynamic equations can be decomposed into two corresponding subsets that form the basis for the proposed decomposed dynamic controller for a flexible robotic arm. One-link and two-link manipulators are used in experimental investigations to examine the accuracy of the theoretical analysis of the robotic arms. Finally, a comparison between the experimental and calculated results is made to verify the effectiveness of the proposed controller.
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