The control of an elastic manipulator taking into account the useful load and the force of gravity

✍ Scribed by Yu.F. Golubev; A.Ye. Ditkovskii

• Publisher: Elsevier Science
• Year: 2004
• Tongue: English
• Weight: 562 KB
• Volume: 68
• Category: Article
• ISSN: 0021-8928
• DOI: 10.1016/j.jappmathmech.2004.09.008

✦ Synopsis

The problem of controlling the motion of a manipulator, consisting of an elastic beam and a useful load, fixed at one of its end, is considered. The arm of the manipulator can rotate in a horizontal plane and move in a vertical direction. It is assumed that a gravitational force acts on the system. It is required to transfer the manipulator from a given initial position to a final one without exciting oscillations. Elastic tension and flexural deformations are taken into account. The control is constructed in the form of series in powers of a parameter, inversely proportional to Young's modulus. Recurrence formulae are given for all the expansion coefficients.