Volume 17 Issue 5
Sep.  1995
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TIAN Yantao, YIN Chaowan, WANG Dianfang, WANG Dalong. ROBUST ADAPTIVE CONTKOL FOK THE MOTION TRAJECTORY OF MULTI-LINK FLEXIELE MANIPULATORS[J]. ROBOT, 1995, 17(5): 263-268.
Citation: TIAN Yantao, YIN Chaowan, WANG Dianfang, WANG Dalong. ROBUST ADAPTIVE CONTKOL FOK THE MOTION TRAJECTORY OF MULTI-LINK FLEXIELE MANIPULATORS[J]. ROBOT, 1995, 17(5): 263-268.
shu

ROBUST ADAPTIVE CONTKOL FOK THE MOTION TRAJECTORY OF MULTI-LINK FLEXIELE MANIPULATORS

  • 1.

    Institute of Automation, Jilin University of Technology, Changchun 130022

  • 2.

    Shengyang Institute of Automation , the Chinese Academy of Sciences 110015

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  • Received Date: December 04, 1994
  • Published Date: September 14, 1995
    Graphical Abstract
    • Abstract
  • The motion trajectory control problem of multi-link flexible manipulators is considered in this paper.The dynamic modelling,structure design of control systems and robust adaptive control algorithm forthe flexible manipulators are studied. The approximate dynamic equations of flexible robot are built by means of assumptive modes method.According to the input-output characteristic of flexible manipulators,the equivalent dynamic equations are built, and the multi-modal robust adaptive controller is designed.Lastly,the simulation experiment results are given.
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    • References (7)
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