Two-Step Controller for 3-D Flexible Link Manipulators: Bandwidth Modulation and Modal Feedback Approach

[+] Author and Article Information
Joono Cheong, Wan Kyun Chung, Youngil Youm

Robotics and Bio-Mechatronics Lab., School of Mechanical Engineering, Pohang University of Science and Technology, San-31 Hyoja-Dong, Pohang, 790-784, Korea

J. Dyn. Sys., Meas., Control 124(4), 566-574 (Dec 16, 2002) (9 pages) doi:10.1115/1.1514240 History: Received August 01, 2001; Revised May 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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Experimental robot: POSTECH flexible robot
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Natural frequencies at various configurations
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Effect of the bandwidth modulation
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Performance of modal feedback control
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Schematic of 3-D flexible manipulator
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Projected coordinate system
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Whole control structure




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