Suboptimal electrodrive control of a flexible manipulator

Abstract

This paper evaluates the controlled plane motions of an elastic manipulator with electrodrives. The dynamics of the rotary motions of the last link of the manipulator is considered within the framework of an elastic beam model. Time-optimal control of a rigid link system is considered by taking into account electromagnetic processes in electrodrives. Different rational control functions are investigated. These rational control functions are implemented in the elastic link model. Evaluation of the accuracy and amplitude of the residual vibration is performed. Methods of increasing the operational accuracy are considered.

Additional information

Notes on contributors

S. A. MIKHAILOV

Present address: Safety Control Engineering, University of Wuppertal, Gauss Str. 20. D-42097 Wuppertal, Germany. Tel: [phone]: Fax: [phone] (FB 14 S. Mikhailov); e-mail: [email protected].