THE METHOD OF SLOW VARIABLES IN THE PROBLEM OF THE CONTROL OF THE MOTION OF AN ELASTIC MANIPULATOR

A solution is proposed for the problem of synthesizing the control of a manipulator with deformable members [1-5].double dagger The motion o f the system is described using Routh's equation [6, 7]. The variables are the generalized coordinates, velocities and momenta of the mechan ical system under consideration. A control law which depends only on t he generalized coordinates and momenta of the system (but not on the g eneralized velocities) is constructed. Its special feature is that the variables on which it depends are slow. This will be the case when th e stiffness of the members of the manipulator is sufficiently high and the generalized velocities contain high-frequency components. (C) 199 8 Elsevier Science Ltd. All rights reserved.