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TECHNICAL PAPERS

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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References

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Figures

Grahic Jump Location
Schematic of 3-D flexible manipulator
Grahic Jump Location
Projected coordinate system
Grahic Jump Location
Whole control structure
Grahic Jump Location
Experimental robot: POSTECH flexible robot
Grahic Jump Location
Natural frequencies at various configurations
Grahic Jump Location
Effect of the bandwidth modulation
Grahic Jump Location
Performance of modal feedback control

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