Please use this identifier to cite or link to this item: https://doi.org/10.1109/70.660869
DC FieldValue
dc.titleImproving regulation of a single-link flexible manipulator with strain feedback
dc.contributor.authorGe, S.S.
dc.contributor.authorLee, T.H.
dc.contributor.authorZhu, G.
dc.date.accessioned2014-10-07T02:59:09Z
dc.date.available2014-10-07T02:59:09Z
dc.date.issued1998
dc.identifier.citationGe, S.S., Lee, T.H., Zhu, G. (1998). Improving regulation of a single-link flexible manipulator with strain feedback. IEEE Transactions on Robotics and Automation 14 (1) : 179-185. ScholarBank@NUS Repository. https://doi.org/10.1109/70.660869
dc.identifier.issn1042296X
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/80587
dc.description.abstractThis paper considers improving the tip regulation performance of a joint-PD controlled single-link flexible manipulator by introducing nonlinear strain feedback. The controller is developed by applying Lyapunov's direct method. The stability of the closed-loop system is theoretically proven based on the partial differential equations (PDE's) which govern the motion of the flexible robot, instead of using the traditional truncated models. The controller is very simple in its form, and only the measurements of joint angle, joint velocity, and strain of the bending beam are needed for implementation. The controller is very robust as well because it is independent of system parameters.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/70.660869
dc.sourceScopus
dc.subjectFlexible manipulators
dc.subjectNonlinear strain feedback
dc.subjectRegulation
dc.typeArticle
dc.contributor.departmentELECTRICAL ENGINEERING
dc.description.doi10.1109/70.660869
dc.description.sourcetitleIEEE Transactions on Robotics and Automation
dc.description.volume14
dc.description.issue1
dc.description.page179-185
dc.description.codenIRAUE
dc.identifier.isiut000072036300018
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