Model Reduction of Flexible Manipulators

Jie Yang, Yangsheng Xu, and Mei Chen
tech. report CMU-RI-TR-92-08, Robotics Institute, Carnegie Mellon University, June, 1992

  • Adobe portable document format (pdf) (512KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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 or 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.

Grant ID: NAGW-2998
Number of pages: 18

Text Reference
Jie Yang, Yangsheng Xu, and Mei Chen, "Model Reduction of Flexible Manipulators," tech. report CMU-RI-TR-92-08, Robotics Institute, Carnegie Mellon University, June, 1992

BibTeX Reference
   author = "Jie Yang and Yangsheng Xu and Mei Chen",
   title = "Model Reduction of Flexible Manipulators",
   booktitle = "",
   institution = "Robotics Institute",
   month = "June",
   year = "1992",
   number= "CMU-RI-TR-92-08",
   address= "Pittsburgh, PA",