Singular perturbation analysis of a distributed parameter model of flexible manipulators.

Farshad Khorrami, Umit Ozguner

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

Abstract

The effect of flexure on the rigid body motion of flexible link manipulators is considered through singular perturbation methods. It is shown that the dynamics of flexible manipulators can be resolved into rigid and flexible modes when a small parameter embedded in the model vanishes. The coupling of the flexure and the rigid modes is investigated by appealing to the higher order terms in the expansion. The model used is the nonlinear integro-partial-differential equation resulting from the extended Hamiltonian principle. Analysis of this model yields more insight and simplifies generation of the higher order terms that represent the coupling between the rigid and the flexure modes as compared to a finite-dimensional approximation of the model. Finally, asymptotic perturbation techniques are utilized to generate a composite control law.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages1704-1709
Number of pages6
Volume88 pt 1-3
StatePublished - 1988

Fingerprint

Flexible manipulators
Hamiltonians
Perturbation techniques
Partial differential equations
Manipulators
Composite materials

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Khorrami, F., & Ozguner, U. (1988). Singular perturbation analysis of a distributed parameter model of flexible manipulators. In Proceedings of the American Control Conference (Vol. 88 pt 1-3, pp. 1704-1709). Publ by American Automatic Control Council.

Singular perturbation analysis of a distributed parameter model of flexible manipulators. / Khorrami, Farshad; Ozguner, Umit.

Proceedings of the American Control Conference. Vol. 88 pt 1-3 Publ by American Automatic Control Council, 1988. p. 1704-1709.

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

Khorrami, F & Ozguner, U 1988, Singular perturbation analysis of a distributed parameter model of flexible manipulators. in Proceedings of the American Control Conference. vol. 88 pt 1-3, Publ by American Automatic Control Council, pp. 1704-1709.
Khorrami F, Ozguner U. Singular perturbation analysis of a distributed parameter model of flexible manipulators. In Proceedings of the American Control Conference. Vol. 88 pt 1-3. Publ by American Automatic Control Council. 1988. p. 1704-1709
Khorrami, Farshad ; Ozguner, Umit. / Singular perturbation analysis of a distributed parameter model of flexible manipulators. Proceedings of the American Control Conference. Vol. 88 pt 1-3 Publ by American Automatic Control Council, 1988. pp. 1704-1709
@inproceedings{e2b8814a03b54493beb6dd99e816e9ee,
title = "Singular perturbation analysis of a distributed parameter model of flexible manipulators.",
abstract = "The effect of flexure on the rigid body motion of flexible link manipulators is considered through singular perturbation methods. It is shown that the dynamics of flexible manipulators can be resolved into rigid and flexible modes when a small parameter embedded in the model vanishes. The coupling of the flexure and the rigid modes is investigated by appealing to the higher order terms in the expansion. The model used is the nonlinear integro-partial-differential equation resulting from the extended Hamiltonian principle. Analysis of this model yields more insight and simplifies generation of the higher order terms that represent the coupling between the rigid and the flexure modes as compared to a finite-dimensional approximation of the model. Finally, asymptotic perturbation techniques are utilized to generate a composite control law.",
author = "Farshad Khorrami and Umit Ozguner",
year = "1988",
language = "English (US)",
volume = "88 pt 1-3",
pages = "1704--1709",
booktitle = "Proceedings of the American Control Conference",
publisher = "Publ by American Automatic Control Council",

}

TY - GEN

T1 - Singular perturbation analysis of a distributed parameter model of flexible manipulators.

AU - Khorrami, Farshad

AU - Ozguner, Umit

PY - 1988

Y1 - 1988

N2 - The effect of flexure on the rigid body motion of flexible link manipulators is considered through singular perturbation methods. It is shown that the dynamics of flexible manipulators can be resolved into rigid and flexible modes when a small parameter embedded in the model vanishes. The coupling of the flexure and the rigid modes is investigated by appealing to the higher order terms in the expansion. The model used is the nonlinear integro-partial-differential equation resulting from the extended Hamiltonian principle. Analysis of this model yields more insight and simplifies generation of the higher order terms that represent the coupling between the rigid and the flexure modes as compared to a finite-dimensional approximation of the model. Finally, asymptotic perturbation techniques are utilized to generate a composite control law.

AB - The effect of flexure on the rigid body motion of flexible link manipulators is considered through singular perturbation methods. It is shown that the dynamics of flexible manipulators can be resolved into rigid and flexible modes when a small parameter embedded in the model vanishes. The coupling of the flexure and the rigid modes is investigated by appealing to the higher order terms in the expansion. The model used is the nonlinear integro-partial-differential equation resulting from the extended Hamiltonian principle. Analysis of this model yields more insight and simplifies generation of the higher order terms that represent the coupling between the rigid and the flexure modes as compared to a finite-dimensional approximation of the model. Finally, asymptotic perturbation techniques are utilized to generate a composite control law.

UR - http://www.scopus.com/inward/record.url?scp=17344376963&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=17344376963&partnerID=8YFLogxK

M3 - Conference contribution

VL - 88 pt 1-3

SP - 1704

EP - 1709

BT - Proceedings of the American Control Conference

PB - Publ by American Automatic Control Council

ER -