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Centralized, decentralized, and independent control of a flexible manipulator on a flexible base

✍ Scribed by Feiyue Li; Peter M. Bainum; Jianke Xu

Publisher
Elsevier Science
Year
1993
Tongue
English
Weight
689 KB
Volume
29
Category
Article
ISSN
0094-5765

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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