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A New Control Scheme of Single-link Flexible Manipulators Robust to Payload Changes

✍ Scribed by V. Feliu; J. A. Somolinos; C. Cerrada; J. A. Cerrada


Book ID
110256949
Publisher
Springer Netherlands
Year
1997
Tongue
English
Weight
793 KB
Volume
20
Category
Article
ISSN
0921-0296

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CONTROL OF A TWO-LINK RIGID–FLEXIBLE MAN
✍ S. CHOURA; A.S. YIGIT πŸ“‚ Article πŸ“… 2001 πŸ› Elsevier Science 🌐 English βš– 313 KB

Control of a two-link rigid}#exible manipulator carrying a moving payload mass is considered. The stability of the system when the payload mass is moving along the #exible link during the time of maneuver is investigated. A candidate Lyapunov function is constructed and its time rate of change is ex