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The rigid-flexible nonlinear robotic manipulator: Modeling and control

✍ Scribed by André Fenili; José Manoel Balthazar

Publisher
Elsevier Science
Year
2011
Tongue
English
Weight
478 KB
Volume
16
Category
Article
ISSN
1007-5704

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✦ Synopsis

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, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot.

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