Dynamical properties of manipulators exhibiting flexibilities

Research output: Contribution to conferencePaper

Abstract

Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are considered.

Original languageEnglish (US)
Pages1-4
Number of pages4
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Systems Engineering - Pittsburgh, PA, USA
Duration: Aug 9 1990Aug 11 1990

Other

OtherProceedings of the 1990 IEEE International Conference on Systems Engineering
CityPittsburgh, PA, USA
Period8/9/908/11/90

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Khorrami, F. (1990). Dynamical properties of manipulators exhibiting flexibilities. 1-4. Paper presented at Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, .