Date of Award
Spring 1988
Document Type
Thesis
Department
Mechanical & Aerospace Engineering
Program/Concentration
Engineering Mechanics
Committee Director
Jen-Kuang Huang
Committee Member
Thomas E. Alberts
Committee Member
Meng-Sang Chew
Call Number for Print
Special Collections; LD4331.E57Y36
Abstract
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.
Rights
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DOI
10.25777/6fd1-g905
Recommended Citation
Yang, Li-Farn.
"Large Planar Maneuvers for Articulated Flexible Manipulators"
(1988). Thesis, Old Dominion University, DOI: 10.25777/6fd1-g905
https://digitalcommons.odu.edu/mae_etds/754