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Z. Qu, J. F. Dorsey, X. Zhang and D. M. Dawson, “Robust Control of Robots by the Computed Torque Law,” Systems and Control Letters, Vol. 16, No.1, 1991, pp.25-32. doi:10.1016/0167-6911(91)90025-A

has been cited by the following article:

• TITLE: Reduced Model Based Control of Two Link Flexible Space Robot

  AUTHORS: Amit Kumar, Pushparaj Mani Pathak, Nagarajan Sukavanam

  KEYWORDS: Flexible Space Robots, Bond Graph Modeling, Reduced Model Based Controller, Euler-Bernoulli Beam

  JOURNAL NAME: Intelligent Control and Automation, Vol.2 No.2, June 3, 2011

  ABSTRACT: Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.