The rigid-flexible nonlinear robotic man
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AndrΓ© Fenili; JosΓ© Manoel Balthazar
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Article
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2011
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Elsevier Science
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English
β 478 KB
The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, provid