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Author Gouli, W. ♦ Guizhang, L.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Manipulators ♦ Analytical models ♦ Bandwidth ♦ Robustness ♦ Trajectory ♦ Prototypes ♦ Robot sensing systems ♦ Control design ♦ Feedback control ♦ Sensor systems
Abstract A structure design for the planar single-link case, in which the micro rigid link (MRL) is introduced between the flexible link and end-effector, is proposed to remove the disadvantage of the traditional structure design. Analytical modeling results show that high bandwidth and strong robustness can be achieved by a reasonable structure design of the MRL for trajectory tracking of the end-effector of the resultant prototype. For the case where the total mass and length of the MRL are known beforehand, integrated structure/trajectory-tracking-control design, as well as computer simulation, are carried out.
Description Author affiliation: Dept. of Comput. & Inf. Eng., Shantou Univ., China (Gouli, W.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 63.83 kB


Source: IEEE Xplore Digital Library