Control of an elastic manipulator using the Timoshenko beam model. (Russian, English) Zbl 1116.74044

Prikl. Mekh., Kiev 41, No. 12, 107-115 (2005); translation in Int. Appl. Mech. 41, No. 12, 1418-1425 (2005).
The author studies a controlled mechanical system in the form of a Timoshenko beam with loading which describes the motion of a flexible manipulator. For particular equations of motion, a Galerkin approximation is constructed based on the solution of an appropriate Sturm-Liouville problem. The author establishes conditions of local controllability of Galerkin approximation in a neighbourhood of equilibrium. Stabilizability of the equilibrium state is proved, and an explicit synthesis of control with feedback is proposed.


74M05 Control, switches and devices (“smart materials”) in solid mechanics
74K10 Rods (beams, columns, shafts, arches, rings, etc.)
70E60 Robot dynamics and control of rigid bodies
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