Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 50th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 7F3-2
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Host: The Institute of Systems, Control and Information Engineers

Modeling and Control of a Parallel-structured Single-link Flexible Manipulator
YUICHI SAWADA, *YUTAKA YONEDA, TOHRU WATANABE
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Keywords: flexible manipulator, modeling, observer, LQ control
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Abstract
The purpose of this paper is to investigate the modeling and control of a parallel-structured single-link flexible manipulator which can hold heavy load mass. Its dynamics are derived using the Hamilton's principle. In this paper, the exact dynamics of the parallel-structured single-link flexible manipulator is approximated by the dynamics of the flexible arm consisting of a beam for simplicity. An observer and an LQ controller are constructed.
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© 2006 The Institute of Systems, Control and Information Engineers
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