Accession Number : ADA255251


Title :   Model Reduction of Flexible Manipulators


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST


Personal Author(s) : Yang, Jie ; Xu, Yangsheng ; Chen, C S


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a255251.pdf


Report Date : Jun 1992


Pagination or Media Count : 23


Abstract : Flexible manipulators can be characterized by a dynamic model with a large number of vibration modes, and the use of the model in the model-based control schemes requires reduction of model order. Balanced truncation is an effective method for model reduction of asymptotically stable systems by transforming the states to a coordinate system in which the controllability and observability Gramians are equal and diagonal, and eliminating the states which contribute weakly to the input-output map. An elastic flexible manipulator, however, is a marginally stable system and thus the balanced truncation method can not be directly applied. In this report, we present a method of reducing the order of a marginally stable system based on the fact that translation transformations in the frequency domain preserve input-output properties of the system. We address the successful application of the method to model reduction of flexible manipulators with infinite-dimensional for finite-dimensional model. The method is also applicable for any other marginally stable model, such as elastic space trusswork and multi-dimensional space vehicle structure.


Descriptors :   *MANIPULATORS , *FLEXIBLE STRUCTURES , FREQUENCY , INPUT , OUTPUT , CONTROL , SPACECRAFT , MODELS , DYNAMICS , TRUNCATION , TRANSFORMATIONS , FREQUENCY DOMAIN , REDUCTION , COORDINATES , MAPS , TRANSLATIONS , VEHICLES , NUMBERS


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE