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System identification and control of a flexible manipulator
The Observabilty Range Space Extraction (ORSE) algorithm used to identify a an initially overparameterized discrete-time state-space model for a single-link flexible manipulator. A controller named PDPC is designed to ...
Modeling and control of a flexible-link manipulator
The behaviour of a flexible-link robotic manipulator is studied using an experimental apparatus. The system is modeled based on the physical laws governing system dynamics. A non-linear rigid body model is developed which ...