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.

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DOI

10.25777/6fd1-g905

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