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In this paper, we try to draw attention to a particular type of force that has been somehow overlooked in the control of mechanical manipulators: gyroscopic force. At first, we broaden our understanding of gyroscopic effect intrinsic in mechanical systems by reformulating the Euler-Lagrange (EL) equation in terms of a gyroscopic part and the non-gyroscopic ones (or Rayleigh type). Then, we propose...
It has long been a challenge to control the end-effector trajectory of mechanical manipulators using only taskspace parameterization. While there exist some taskspace control strategies (such as the potential energy shaping) that guarantee the convergence of the end-effector to the target point without any inverse transformations, how to make the end-effector follow a desired path during the intermediate...
This paper considers modeling and control of a planar flexible two-link telescoping manipulator. The telescoping interface between the deploying and non-deploying portions of the links is discussed in detail. The equations of motion are derived using Lagrange's equation and constrained using a projection method that eliminates the need to compute Lagrange multipliers explicitly. Passivity-based control...
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