Title: Dynamic Trajectory Tracking Control for a Two-Link
Abstract: In this paper, the dynamic model of a two-link flexible robotic manipulator is established in which the body coordinate references of flexible arms adopt clamped-fiee cases so that the control laws are easily performed. Based on the technique of input-output linearization, the I dynamic model is partially linearized. The joint variables are decoupled from the elastic variables. A new coordinate frames is set up by the observable output. In order to avoid the unstable internal dynamics of the tip tracking control system, a nonlinear state feedback control law with the elastic stabilization for two-link flexible manipulators is designed. A sufficient condition for asymptotic stability of closed-loop system is derived. Simulation results prove the efficiency of this control law. Key word: flexible robotic manipulators, nonlinear state feedback, input-output linearization
Publication Year: 1996
Publication Date: 1996-01-01
Language: en
Type: article
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