Memorias de investigación
Research Publications in journals:
Passivity-Based Control of Single-Link Flexible Manipulators using a Linear Strain Feedback: a New Methodology, Mechanisms and Machine Theory
Year:2014

Research Areas
  • Civil engineering and architecture

Information
Abstract
This work presents a new methodology for the design of a passivity-based control of single-link flexible manipulators. The control objective is the precise positioning of the link tip under large payload changes,which is achieved by combining a precise joint positioningwith a link vibration damping. The main ingredients of the proposed methodology are as follows: a) a linear strain feedback is used to decouple the joint and link dynamics, b) the precise joint positioning is thus simplified to a motor controller, which is designed to be robust to joint frictions, and c) the residual tip vibrations are damped by a control designed using a passivity property between the strain measured at the base of the link and the joint velocity. Simulations and experimental results illustrated the performance of the proposed methodology.
International
Si
JCR
Si
Title
Mechanism And Machine Theory
ISBN
0094-114X
Impact factor JCR
1,31
Impact info
Volume
71
Journal number
From page
191
To page
208
Month
SIN MES
Ranking
Participants
  • Autor: vicente feliu UCLM
  • Autor: emiliano pereira universidad alcalá henares
  • Autor: Ivan Muñoz Diaz UPM

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Grupo de Ingeniería Estructural
  • Departamento: Mecánica de Medios Continuos y Teoría de Estructuras