Stability analysis of a flexible two-link timoshenko manipulator using boundary control method

Hossein Rastgoftar, Masih Mahmoodi, Mohammad Eghtesad, Mojtaba Kazemi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2008 Proceedings of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
Pages409-415
Number of pages7
DOIs
StatePublished - 2009
Externally publishedYes
Event2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008 - Boston, MA, United States
Duration: Oct 31 2008Nov 6 2008

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings
Volume11

Other

Other2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008
Country/TerritoryUnited States
CityBoston, MA
Period10/31/0811/6/08

ASJC Scopus subject areas

  • Mechanical Engineering

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