Online parameter identification for a linear parameter-varying model of large-scale lightweight machine tool structures with pose-dependent dynamic behavior
This paper deals with the derivation of the rotational dynamic matrix of a flexible large scale manipulator in the horizontal plane using the flexible multi body systems (FMBS) frame-work. It is shown, that the dynamic matrix only depends on the pose of the manipulator itself. The nonlinear dynamics of the FMBS system can be simplified and rewritten in the form of a linear parameter varying system, which can be used in the controller synthesis. The approach is exemplified at a large scale flexible link manipulator, with a range of approximately 13m, which is currently under development as a tool for ordnance and IED clearing.
Linear Parameter-Varying Embedding of Nonlinear Models with Reduced Conservativeness
