VIBRATION SUPPRESSION FOR TWO MANIPULATORS HANDLING A FLEXIBLE PAYLOAD BASED ON OBSERVER

摘要：

　　Two manipulators cooperating a flexible payload are studied based on adaptive theory.Different from the traditional studies of manipulators cooperating a flexible load which concentrated on the structural analysis and stability,this paper studies the cooperative control and vibration control problem based on observer.Considering the complexity of the dynamic model,the obtained model is linearized to retain the flexibility movement of the system vibration.The controller is designed based on observer.The stability of the overall system composed of the observer system and the controller system can be guaranteed by using Lyapunov stability theory.The validity of the proposed scheme is demonstrated by simulations.

关键词： Manipulator Vibration suppression Flexible payload Observer

作者: Dongmei Ma Zhiguo Tang

作者单位: Changchun Institute of Optics,Fine Mechanics and Physics Chinese Academy of Sciences,Changchun 13002 Changchun Institute of Optics,Fine Mechanics and Physics Chinese Academy of Sciences,Changchun 13002

会议类型: 国际会议

会议名称: 2012 2nd IEEE International Conference on Cloud Computing and Intelligence Systems (2012年第2届IEEE云计算与智能系统国际会议(IEEE CCIS2012))

会议地点: 杭州

会议语种:英文

页码: 1931-1935

在线出版日期: 2012-10-30（万方平台首次上网日期，不代表论文的发表时间）