Earticle

초록

영어

The Research article includes Model Torque Responses for flexibility of single link manipulators using Linearization Technique named as a LCQ. Manipulators are nothing but one type robotic arms commonly used in the industry .Here the controller design technique used for controlling manipulator was Linear Quadratic Controller Design. Generally the robotic arms are non-linear in nature. In order to control the non-linearity of manipulator and angular displacement, state space technique is used. The topology explains dynamic characteristics occurring in abnormal working condition torque responses are modified by using Linear Quadratic Controller Design Technique. The design method approach in state space control strategy. The dynamic torque responses of single link manipulator in abnormal condition and also using LCQ Technique are shown by M-File Controlling block of Simulink Library in Mat Lab Control tool box.

목차

Abstract
 1. Introduction
 2. Flexible Manipulators
  2.1 Dynamic Modeling
  2.2 Kinetic energy of the flexible link
 3. Linear Quadratic Controller (LQC) Design
  3.1 Linearization of State Space Model
  3.2 M-file program for linearization
  3.3. Concept of Controllability and Observability
  3.4 M-file for State Space Model
 4. Control Block for Single Link Manipulator Using Linear Quadratic Controller (LQR)
 5. Results and Discursions
 6. Conclusions
 References

키워드

저자

• Ramesh Gamasu [ M.Tech Research Scholar, Department of EEE, SACET, Cherala (A.P), India ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605