Wave-Based Analysis and Control of Lump-Modeled Flexible Robots

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Title: Wave-Based Analysis and Control of Lump-Modeled Flexible Robots
Authors: O'Connor, William
Permanent link: http://hdl.handle.net/10197/4010
Date: Apr-2007
Abstract: Flexible robots are frequently represented by lumped models. In the mechanics of lumped systems, wave concepts have been avoided, for good reasons, generally. In the control of lumped flexible systems, however, wave concepts prove very fruitful. This paper provides a foundation for the wave-based control application by exploring the validity and nature of wave concepts in lumped robotic systems. A new wave-based model of uniform mass-spring systems is proposed and verified. The model is exact but not unique. Useful simplifications and approximations are also presented. The model leads to control strategies for flexible robotic systems that are simple, powerful, robust, and generic. The wave approach also provides a new analysis tool and conceptual framework for lumped dynamic systems.
Type of material: Journal Article
Publisher: IEEE
Copyright (published version): 2007 IEEE
Keywords: Dynamic systems;Flexible systems;Lumped models;Mechanical waves
DOI: 10.1109/TRO.2007.895061
Language: en
Status of Item: Not peer reviewed
Appears in Collections:Mechanical & Materials Engineering Research Collection

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