TY - GEN
T1 - Stability analysis of a flexible two-link timoshenko manipulator using boundary control method
AU - Rastgoftar, Hossein
AU - Mahmoodi, Masih
AU - Eghtesad, Mohammad
AU - Kazemi, Mojtaba
PY - 2009
Y1 - 2009
N2 - In this article, the stabilization problem of two flexible one-link and two-link manipulators is solved using boundary control method. To account for the flexibility of links, Timoshenko beam theory is adopted and using Lyapunov stability theorem, forces and torques necessary to be applied at the joints of the manipulators are calculated. Finally the problem of trajectory tracking for this robot is briefly discussed.
AB - In this article, the stabilization problem of two flexible one-link and two-link manipulators is solved using boundary control method. To account for the flexibility of links, Timoshenko beam theory is adopted and using Lyapunov stability theorem, forces and torques necessary to be applied at the joints of the manipulators are calculated. Finally the problem of trajectory tracking for this robot is briefly discussed.
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U2 - 10.1115/IMECE2008-69017
DO - 10.1115/IMECE2008-69017
M3 - Conference contribution
AN - SCOPUS:69949125980
SN - 9780791848722
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings
SP - 409
EP - 415
BT - 2008 Proceedings of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
T2 - 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
Y2 - 31 October 2008 through 6 November 2008
ER -