Open-Loop Control of Flexible Manipulator Systems Using Filtered Inputs
Tokhi, M.O., Kourtis, S., Poerwanto, H. et al. (1 more author)
(1995)
Open-Loop Control of Flexible Manipulator Systems Using Filtered Inputs.
Research Report.
ACSE Research Report 598
.
Department of Automatic Control and Systems Engineering
Abstract
This paper presents an investigation into the development of open-loop control strategies for flexible manipulator systems using filtering techniques. Shaped torque inputs, including lowpass and bandstop filtered torque input functions, are developed and used in an open-loop configuration and their performances within a simulation environment characterising a constrained planar single-link flexible manipulator system studied in comparison to a bang-bang torque input. Simulation results verifying the performance of the developed control strategies are presented and discussed.
Metadata
Item Type:
Monograph
Authors/Creators:
Tokhi, M.O.
Kourtis, S.
Poerwanto, H.
Azad, A.K.M.
Copyright, Publisher and Additional Information:
The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
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