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Trajectory Control of a Flexible Manipulator with a Prismatic Joint
Chang-Yong Park,Toshiro Ono,Tatsuya Nishibayashi 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
The tracking control problem of a flexible manipulator with a prismatic joint along a given path is discussed. The nondimensionalization of the elastic part of the manipulator makes it possible to model such a flexible manipulator. For a discontinuous velocity trajectory, an optimal control theory has been applied to formulate the problem. The optimal scheme is given to find the input commands(e.g., joint torques) necessary to produce a specified end effector motion. Simulated results show the potential use of this scheme for a discontinuous velocity trajectory control.