A Trajectory Planning Method for Output Tracking of Linear Flexible Systems Using Exact Equilibrium Manifolds
- Title
- A Trajectory Planning Method for Output Tracking of Linear Flexible Systems Using Exact Equilibrium Manifolds
- Author
- 최영진
- Keywords
- Dynamic inversion; equilibrium manifold; flexible systems; singular perturbation; trajectory planning
- Issue Date
- 2010-10
- Publisher
- Institute of Electrical and Electronics Engineers
- Citation
- IEEE/ASME Transactions on Mechatronics, v. 15, NO. 5, article no. 5337898, Page. 819-826
- Abstract
- This paper describes a new trajectory planning method for the output tracking control of linear flexible systems; this method computes the exact solution of the equilibrium manifold. We establish a system of differential equations by combining kinematic and dynamic constraints and reformulate them in a singularly perturbed dynamics to obtain the equilibrium manifold in the form of an infinite series, which is our planned trajectory. We show that for the desired output defined by exponential functions, the equilibrium manifold becomes a converging geometric series that has a succinct form of summation. In addition, the inverse torque, which is the feedforward command, is easily produced by using the computed exact equilibrium manifold. We validate the effectiveness of the proposed method through simulations and experimental studies using a single-link flexible arm.
- URI
- https://ieeexplore.ieee.org/document/5337898https://repository.hanyang.ac.kr/handle/20.500.11754/180904
- ISSN
- 1083-4435;1941-014X
- DOI
- 10.1109/TMECH.2009.2034261
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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