SICE Division Conference Program and Abstracts
SICE System Integration Division Annual Conference 2002
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Host: The Society of Instrument and Control Engineers, System Integration Division

Control of Manipulator with 2 Flexible-links via Energy Modification Method Considering Amplitudes of Modes
Yoshiki Sugawara, Kazuya Ogata, Yoshikazu Hayakawa
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 170

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Abstract
The IDA-PBC method (1) is applied to a controller of manipulator with 2 flexible-links. A particular class of controller derived by IDA-PBC method can control amplitudes of each mode of vibration. Such a controller can remove high frequency components from feedback inputs. Some results show that the effectiveness of such a controller.
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© 2002 SICE
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