The rigid-flexible nonlinear robotic manipulator: Modeling and control
| Contribuinte(s) |
Universidade Estadual Paulista (UNESP) |
|---|---|
| Data(s) |
30/09/2013
20/05/2014
30/09/2013
20/05/2014
01/05/2011
|
| Resumo |
Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq) The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot. (C) 2010 Elsevier B.V. All rights reserved. |
| Formato |
2332-2341 |
| Identificador |
http://dx.doi.org/10.1016/j.cnsns.2010.04.057 Communications In Nonlinear Science and Numerical Simulation. Amsterdam: Elsevier B.V., v. 16, n. 5, p. 2332-2341, 2011. 1007-5704 http://hdl.handle.net/11449/24886 10.1016/j.cnsns.2010.04.057 WOS:000286154500018 |
| Idioma(s) |
eng |
| Publicador |
Elsevier B.V. |
| Relação |
Communications in Nonlinear Science and Numerical Simulation |
| Direitos |
closedAccess |
| Palavras-Chave | #State-Dependent Riccati Equation #Robotic manipulator #Slewing motion |
| Tipo |
info:eu-repo/semantics/article |
