Control and Simulation of Two Manipulators Handling a Flexible Payload

作     者：ZHANG Peng 1,2,LI Yuanchun 2 1.State key laboratory of automobile dynamic simulation,Jilin University,Changchun 130025,P.R.China 2.Department of Communication Engineering,Jilin University,Changchun 130025,P.R.China 

会议名称：《第二十九届中国控制会议》

会议日期：2010年

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by National Nature Science Foundation under Grant(60674091 60974010) 

关 键 词：Manipulator Observer Singular Perturbation Cooperative Control Flexible Payload 

摘      要：The traditional studies about two manipulators handling a flexible payload are mainly focused on configuration analysis and *** this paper,the control problem based on observer is *** the characteristic of flexible payload,the relations of the vibration states are got from the contact points between the end of manipulators and flexible payload.A new observer is designed based on the available *** order to make the system easy to control,the model is divided into a slow subsystem and a fast *** controllers are designed for each subsystem,*** stabilityof the whole system can be guaranteed with the observer and the control *** simulation validates the observer and controller.