PDE modeling of a flexible two-link manipulator

American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

Volumn 70, Issue , 2002, Pages 885-890

  Zhang, X ^a   Nair, S S ^a   Chellaboina, V ^a  

^a UNIVERSITY OF MISSOURI   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BOUNDARY CONDITIONS; COMPUTER SIMULATION; ELASTICITY; FLEXIBLE STRUCTURES; HAMILTONIANS; PARTIAL DIFFERENTIAL EQUATIONS; ROBOTS; UNIVERSAL JOINTS;

AXIAL ELONGATION; PAYLOADS;

MANIPULATORS;

EID: 0242635899     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (10)

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2. W. J. Book, "Controlled Motion in an Elastic World," ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 115, 1993, pp. 252-261.
3. A. De Luca, and B. Siciliano, "Closed-Form Dynamic Model of Planar Multilink Lightweight Robot," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 21., No. 4., 1991, pp. 826-839.
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5. C. M. Oakley, and R. H. Cannon, "Equation of Motion for an Experimental Planar Two-Link Flexible Manipulator," in Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, 1989, pp. 267-278.
6. W. Xu, X. Zhang, and S. S. Nair, "An Experimental Model for A Flexible Two-Link System, "Proceedings of the American Control Conference, 2001, Arlington, VA. (accepted)
7. N. S. Abhyankar, E. K. II Hall, and S. V. Hanagud, "Chaotic Vibrations of Beams: Numerical Solution of Partial Differential Equations, " ASME Journal of Applied Mechanics, Vol. 60, March 1993, pp. 167-174.
8. X. Zhang, W. Xu, V. Chellaboina, and S. S. Nair, "PDE control for A Flexible Two-Link System," Proceedings of the ASME International Mechanical Engineering Congress and Exposition, New York, NY, 2001. (accepted)
9. D. J. Inman, "Engineering Vibration", 1996, Prentice Hall.
10. H. H. Cudney, and D. J. Inman, "Determining Damping Mechanisms in a Composite Beam", International Journal of Analytical and Experimental Modal Analysis, Vol. 4, No. 4, 1989, pp.138-143.