OPTIMAL-CONTROL OF A FLEXIBLE MANIPULATOR

Authors
SZYSZKOWSKI W YOUCK D
Citation
W. Szyszkowski et D. Youck, OPTIMAL-CONTROL OF A FLEXIBLE MANIPULATOR, Computers & structures, 47(4-5), 1993, pp. 801-813
Citations number
13
Categorie Soggetti
Computer Sciences","Computer Application, Chemistry & Engineering",Engineering,"Computer Applications & Cybernetics
Journal title
Computers & structures → ACNP
ISSN journal
00457949
Volume
47
Issue
4-5
Year of publication
1993
Pages
801 - 813
Database
ISI
SICI code
0045-7949(1993)47:4-5<801:OOAFM>2.0.ZU;2-M
Abstract
Manipulators handling payload masses several times larger than their o wn weight are considered. The optimal control rule, based on rigid bod y dynamics, is used to minimize the time of a slewing maneuver of a si ngle link. The performance of such control is simulated using ADINA. T he influence of various flexibility parameters on the performance of t he optimal control is discussed.