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The rigid-flexible nonlinear robotic manipulator: Modeling and control

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dc.contributor.authorFenili, Andre
dc.contributor.authorBalthazar, José Manoel [UNESP]
dc.contributor.institutionUniversidade Federal do ABC (UFABC)
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2013-09-30T18:50:20Z
dc.date.accessioned2014-05-20T14:16:15Z
dc.date.available2013-09-30T18:50:20Z
dc.date.available2014-05-20T14:16:15Z
dc.date.issued2011-05-01
dc.description.abstractThe State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot. (C) 2010 Elsevier B.V. All rights reserved.en
dc.description.affiliationUFABC, CECS Aerosp Engn, BR-09210580 Santo Andre São Paulo, SP, Brazil
dc.description.affiliationUNESP Univ Estadual Paulista, Inst Geociencias & Ciencias Extas, Dept Estat Matemat Aplicada & Computacao, BR-13506900 Rio Claro São Paulo, SP, Brazil
dc.description.affiliationUnespUNESP Univ Estadual Paulista, Inst Geociencias & Ciencias Extas, Dept Estat Matemat Aplicada & Computacao, BR-13506900 Rio Claro São Paulo, SP, Brazil
dc.description.sponsorshipFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)
dc.description.sponsorshipConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
dc.format.extent2332-2341
dc.identifierhttp://dx.doi.org/10.1016/j.cnsns.2010.04.057
dc.identifier.citationCommunications In Nonlinear Science and Numerical Simulation. Amsterdam: Elsevier B.V., v. 16, n. 5, p. 2332-2341, 2011.
dc.identifier.doi10.1016/j.cnsns.2010.04.057
dc.identifier.issn1007-5704
dc.identifier.urihttp://hdl.handle.net/11449/24886
dc.identifier.wosWOS:000286154500018
dc.language.isoeng
dc.publisherElsevier B.V.
dc.relation.ispartofCommunications in Nonlinear Science and Numerical Simulation
dc.relation.ispartofjcr3.181
dc.relation.ispartofsjr1,372
dc.rights.accessRightsAcesso restrito
dc.sourceWeb of Science
dc.subjectState-Dependent Riccati Equationen
dc.subjectRobotic manipulatoren
dc.subjectSlewing motionen
dc.titleThe rigid-flexible nonlinear robotic manipulator: Modeling and controlen
dc.typeArtigo
dcterms.licensehttp://www.elsevier.com/about/open-access/open-access-policies/article-posting-policy
dcterms.rightsHolderElsevier B.V.
dspace.entity.typePublication
unesp.campusUniversidade Estadual Paulista (UNESP), Instituto de Geociências e Ciências Exatas, Rio Claropt
unesp.departmentEstatística, Matemática Aplicada e Computação - IGCEpt

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Rio Claro - IGCE - Instituto de Geociências e Ciências Exatas