REGULATION OF A GEOMETRICALLY EXACT FLEXIBLE BEAM MANIPULATOR

摘要

The rest-to-rest maneuver of a single-link flexible manipulator using the geometrically exact nonlinear beam model is considered. It is shown that, with the joint torque only, a simple linear feedback law derived based on a Lyapunov-type method stabilizes the highly nonlinear coupled system described by a set of integro-partial differential equations with coupled nonlinear boundary conditions. [References: 5]