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On Singular Perturbation Based Inverse Dynamics Control for a Two-Link Flexible Manipulator

  • Part 3: Intelligent Robotic System
  • Conference paper
  • First Online:
Robotic Welding, Intelligence and Automation

Part of the book series: Lecture Notes in Control and Information Science ((LNCIS,volume 299))

Abstract

Based on singular perturbation technology, the flexible-link manipulator system model was divided into two sub-systems, one for slow sub-system describing equivalent rigid motion, and one for fast sub-system describing vibration. A novel inverse dynamics control scheme based on the two sub-system models was proposed. The algorithm has no specific demand on the desired trajectory.

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Authors and Affiliations

  1. Robotics Research Institute, Harbin Institute of Technology, Harbin 150001, P.R. China,  

    Xuefeng Dai, Lining Sun & Hegao Cai

  2. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, P.R. China,  

    Xuefeng Dai, Lining Sun & Hegao Cai

Authors
  1. Xuefeng Dai
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  2. Lining Sun
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  3. Hegao Cai
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Editor information

Tzyh-Jong Tarn Changjiu Zhou Shan-Ben Chen

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Dai, X., Sun, L., Cai, H. On Singular Perturbation Based Inverse Dynamics Control for a Two-Link Flexible Manipulator. In: Tarn, TJ., Zhou, C., Chen, SB. (eds) Robotic Welding, Intelligence and Automation. Lecture Notes in Control and Information Science, vol 299. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44415-2_17

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  • DOI: https://doi.org/10.1007/978-3-540-44415-2_17

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-20804-4

  • Online ISBN: 978-3-540-44415-2

  • eBook Packages: Springer Book Archive

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