The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We develop a novel passivity-based control framework of a manipulator-stage system sitting on a vertical flexible beam. We first model the vertical flexible beam by using Euler-Bernoulli theory and modal approximation while utilizing certain boundary conditions to take into account the effect of the gravity and interaction wrench between the manipulator-stage system and the beam. To separately achieve...
In this paper, we consider the modeling and control problem of the stage-manipulator system on the vertical flexible beam and provide experiment results of the proposed passivity-based control framework which separately achieves two control objectives, i.e. the end-effector (EF) tracking and vibration suppression. For this, we first utilize the passive decomposition to split the dynamics into: 1)...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.