Flexible Manipulators

Index

Note: Page numbers followed by f indicate figures, t indicate tables.

A

Acceleration feedback, 8–9 see also Feedback

Actuator dynamics, of single flexible robotic link, 230

Adaptive controller, 8–9, 60 see also Controller

Admissible functions, 37–38, 126–127, 149–150

B

Beam

deformation, 231, 242

dynamic model, linearization of, 34–37

kinetic energy of, 18–19

model see Euler–Bernoulli beam model see also Timoshenko beam mode

C

Cantilever(s)

beam, 101–102, 107, 111, 113, 167

vibrating, 100–102, 106, 122, 126, 152, 169

Centrifugal forces, 92–94

Closed-loop design, of flexible robotic links, 229–237

optimization formulations for, 234–237

minimax, 237

pole location, 236

reference model, 236–237

tracking error, 236

single-link

actuator dynamics ...