Inversion of flexible manipulator dynamics via the trajectory pattern method

Farshad Khorrami, Joseph A. Lewinsohn, Jahangir Rastegar, Sandeep Jain

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

Abstract

In this paper, the Trajectory Pattern Method (TPM) is utilized as a technique for synthesizing motion trajectories and generating inverse dynamics model based feedforward control signals for vibration free maneuvers of multi-link flexible manipulators. This technique is an application of our earlier paper, where the Trajectory Pattern Method (TPM) was introduced as an inversion technique for nonlinear (including non-minimum phase) control systems. Specifically, using this method, a stable inverse for the flexible manipulator dynamics is obtained. The efficacy of this scheme is illustrated through experimental results on a two-link flexible manipulator at the Control/Robotics Research Laboratory (CRRL).

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages3325-3330
Number of pages6
Volume4
StatePublished - 1995
EventProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA
Duration: Dec 13 1995Dec 15 1995

Other

OtherProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)
CityNew Orleans, LA, USA
Period12/13/9512/15/95

Fingerprint

Flexible manipulators
Trajectories
Phase control
Feedforward control
Research laboratories
Dynamic models
Robotics
Control systems

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Khorrami, F., Lewinsohn, J. A., Rastegar, J., & Jain, S. (1995). Inversion of flexible manipulator dynamics via the trajectory pattern method. In Proceedings of the IEEE Conference on Decision and Control (Vol. 4, pp. 3325-3330). IEEE.

Inversion of flexible manipulator dynamics via the trajectory pattern method. / Khorrami, Farshad; Lewinsohn, Joseph A.; Rastegar, Jahangir; Jain, Sandeep.

Proceedings of the IEEE Conference on Decision and Control. Vol. 4 IEEE, 1995. p. 3325-3330.

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

Khorrami, F, Lewinsohn, JA, Rastegar, J & Jain, S 1995, Inversion of flexible manipulator dynamics via the trajectory pattern method. in Proceedings of the IEEE Conference on Decision and Control. vol. 4, IEEE, pp. 3325-3330, Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4), New Orleans, LA, USA, 12/13/95.
Khorrami F, Lewinsohn JA, Rastegar J, Jain S. Inversion of flexible manipulator dynamics via the trajectory pattern method. In Proceedings of the IEEE Conference on Decision and Control. Vol. 4. IEEE. 1995. p. 3325-3330
Khorrami, Farshad ; Lewinsohn, Joseph A. ; Rastegar, Jahangir ; Jain, Sandeep. / Inversion of flexible manipulator dynamics via the trajectory pattern method. Proceedings of the IEEE Conference on Decision and Control. Vol. 4 IEEE, 1995. pp. 3325-3330
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