• Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators 

      Siciliano, Bruno; Book, Wayne John (Georgia Institute of Technology, 1986)
      The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case ...
    • Direct Adaptive Control of a One-Link Flexible Arm with Tracking 

      Yuan, Bau-San; Book, Wayne John; Siciliano, Bruno (Georgia Institute of TechnologyJohn Wiley & Sons, Inc., 1989)
      A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...
    • An integral manifold approach to control of a one link flexible arm 

      Siciliano, Bruno; Book, Wayne John; De Maria, Giuseppe (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-12)
      The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ...
    • A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators 

      Siciliano, Bruno; Book, Wayne John (Georgia Institute of TechnologySage Publications, 1988-08)
      The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order ...
    • Symbolic modelling and dynamic analysis of flexible manipulators 

      Cetinkunt, Sabri; Siciliano, Bruno; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-10)
      This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ...