TY - GEN
T1 - Decreasing end-effector deformation of the flexible manipulator through local motion planning
AU - Bian, Yushu
AU - Yun, Chao
AU - Gao, Zhihui
PY - 2008
Y1 - 2008
N2 - Based on the analysis of motion behaviors of animals, a new idea of controlling vibration of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and introduced to the topological structure of the flexible manipulator. By way of planning the independent local motion provided by the controllable local degrees of freedom, the end-effector deformation of the flexible manipulator can be effectively decreased through dynamic coupling. The relevant method for vibration control of the flexible manipulator is put forward. Numerical simulations are carried out, and the results verify the feasibility of this method.
AB - Based on the analysis of motion behaviors of animals, a new idea of controlling vibration of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and introduced to the topological structure of the flexible manipulator. By way of planning the independent local motion provided by the controllable local degrees of freedom, the end-effector deformation of the flexible manipulator can be effectively decreased through dynamic coupling. The relevant method for vibration control of the flexible manipulator is put forward. Numerical simulations are carried out, and the results verify the feasibility of this method.
UR - https://www.scopus.com/pages/publications/62949189638
U2 - 10.1109/APCCAS.2008.4746132
DO - 10.1109/APCCAS.2008.4746132
M3 - 会议稿件
AN - SCOPUS:62949189638
SN - 9781424423422
T3 - IEEE Asia-Pacific Conference on Circuits and Systems, Proceedings, APCCAS
SP - 750
EP - 753
BT - Proceedings of APCCAS 2008 - 2008 IEEE Asia Pacific Conference on Circuits and Systems
T2 - APCCAS 2008 - 2008 IEEE Asia Pacific Conference on Circuits and Systems
Y2 - 30 November 2008 through 3 December 2008
ER -