On singular perturbation based inverse dynamics control for a two-link flexible manipulator

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	On singular perturbation based inverse dynamics control for a two-link flexible manipulator
	Dai XF(戴学丰); Sun LN(孙立宁); Cai HG(蔡鹤皋)
	2002
会议名称	International Conference on Robotic Welding, Intelligence and Automation
会议日期	December 9-12, 2002
会议地点	Shanghai, China
页码	276-280
中文摘要	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.
收录类别	SCI ; CPCI（ISTP）
产权排序	1
会议录	ROBOTIC WELDING, INTELLIGENCE AND AUTOMATION
会议录出版者	SPRINGER-VERLAG
会议录出版地	BERLIN
语种	英语
ISSN号	0170-8643
ISBN号	3-540-20804-6
WOS记录号	WOS:000189484600017
研究领域[WOS]	Automation & Control Systems ; Computer Science ; Engineering ; Robotics
WOS标题词	Science & Technology ; Technology
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8818]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Dai XF,Sun LN,Cai HG. On singular perturbation based inverse dynamics control for a two-link flexible manipulator[C]. 见:International Conference on Robotic Welding, Intelligence and Automation. Shanghai, China. December 9-12, 2002.