Nonlinear Modeling of a Long Flexible Manipulator and Control by Inertial Devices

Abstract

We consider the modeling and control of a planar, long, flexible manipulator that is representative of current space-based robotic arms such as the Space Shuttle Remote Manipulator System. The arm is equipped with three actuators: 1) a shoulder motor; 2) a torque wheel at the tip; and 3) a proof-mass actuator at the tip. The goal is to investigate the… (More)

3 Figures and Tables

Cite this paper

@article{Barbieri1992NonlinearMO, title={Nonlinear Modeling of a Long Flexible Manipulator and Control by Inertial Devices}, author={Enrique Barbieri and Sean P. Kenny and Raymond C. Montgomery}, journal={1992 American Control Conference}, year={1992}, pages={1695-1699} }