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R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
On the control of flexible link manipulators: results of two numerical investigations - PART II: regulator design and numerical results
Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD’03), 7-10 Maggio, 2003, Cassino (Italia).

Abstract: In Part I of the paper the mathematical model employed to reproduce the dynamic behavior of two flexible link closed-chain planar manipulators has been described as well as the mechanical features of the prototypes of the manipulators. This Part of the paper presents two control schemes which have been designed for the manipulators, and which result from two different approaches followed to achieve satisfactory performance both in terms of position and vibration control. The numerical results attained in the simulation environment prove the effectiveness of both the regulators.


Area: Vibrazioni Meccaniche
Attività: Modellazione e controllo di meccanismi a membri deformabili ad attuazione singola

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