Modeling and control of a multi degree of freedom flexible joint manipulator
—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5392/1/ICCEE2009.pdf http://irep.iium.edu.my/5392/ http://dx.doi.org/10.1109/ICCEE.2009.100 |
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