Authors

Hiromi Mochiyama, Hideo Fujimoto

Abstract

A hyper-flexible body is a continuum mechanical object with infinitely many kinematic degrees of freedom which can not be appropriately modeled as elastic bodies nor fluid. In this paper, manipulation of a hyper-flexible body is considered. Although we have only a few control input for the infinite-dimensional system of a hyper-flexible body, we provide an illustrative control example where we can achieve damping injection to a planar cable-like hyper-flexible body by only translational acceleration input at its one end. The control law is derived by the passivity approach based on the port-controlled Hamiltonian system representation.

Keywords

distributed parameter systems, flexible arms, mechanical systems, nonlinear systems, robot control, robot dynamics, robot kinematics, robotics

Citation

  • Journal: IFAC Proceedings Volumes
  • Year: 2005
  • Volume: 38
  • Issue: 1
  • Pages: 265–270
  • Publisher: Elsevier BV
  • DOI: 10.3182/20050703-6-cz-1902.01314
  • Note: 16th IFAC World Congress

BibTeX

@article{Mochiyama_2005,
  title={{ROBOTIC MANIPULATION OF A HYPER-FLEXIBLE BODY}},
  volume={38},
  ISSN={1474-6670},
  DOI={10.3182/20050703-6-cz-1902.01314},
  number={1},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Mochiyama, Hiromi and Fujimoto, Hideo},
  year={2005},
  pages={265--270}
}

Download the bib file

References

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