Nonlinear control for flexible manipulators

摘要

This work focuses on the control of flexible manipulators. Due to the complicated dynamics of a flexible manipulator, which does not satisfy the so-called "matching condition" many control strategies which succeed in conventional rigid robot control cannot be directly used in flexible robot control problems. In this work, a generalized computed torque control scheme has been proposed to solve this kind of control problem. Furthermore, to cope with the model uncertainty, an adaptive control scheme has also been proposed. Simulation and experimental results demonstrate the effectiveness of the proposed controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>