Dynamical properties of manipulators exhibiting flexibilities

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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)
Title of host publicationProc 90 Int Conf Syst Eng
PublisherPubl by IEEE
Pages1-4
Number of pages4
StatePublished - 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

Fingerprint

Manipulators
Feedback linearization
Flexible structures
Nonlinear systems

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Khorrami, F. (1990). Dynamical properties of manipulators exhibiting flexibilities. In Proc 90 Int Conf Syst Eng (pp. 1-4). Publ by IEEE.

Dynamical properties of manipulators exhibiting flexibilities. / Khorrami, Farshad.

Proc 90 Int Conf Syst Eng. Publ by IEEE, 1990. p. 1-4.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Khorrami, F 1990, Dynamical properties of manipulators exhibiting flexibilities. in Proc 90 Int Conf Syst Eng. Publ by IEEE, pp. 1-4, Proceedings of the 1990 IEEE International Conference on Systems Engineering, Pittsburgh, PA, USA, 8/9/90.
Khorrami F. Dynamical properties of manipulators exhibiting flexibilities. In Proc 90 Int Conf Syst Eng. Publ by IEEE. 1990. p. 1-4
Khorrami, Farshad. / Dynamical properties of manipulators exhibiting flexibilities. Proc 90 Int Conf Syst Eng. Publ by IEEE, 1990. pp. 1-4
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