Modeling and control of a multi degree of freedom flexible joint manipulator

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Modeling and control of a multi degree of freedom flexible joint manipulator

—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in...

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Bibliographic Details
Main Authors:	Akhtaruzzaman, Md., Akmeliawati, Rini, Teh, Wai Yee
Format:	Proceeding Paper
Language:	English
Published:	2009
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/1/ICCEE2009.pdf

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