The Boundary Proportion Differential Control Method of Micro-Deformable Manipulator with Compensator Based on Partial Differential Equation Dynamic Model

It is challenging to accurately judge the actual end position of the manipulator—regarded as a rigid body—due to the influence of micro-deformation. Its precise and efficient control is a crucial problem. To solve the problem, the Hamilton principle was used to establish the partial differential equ...

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Bibliographic Details

Published in:	Micromachines
Main Authors:	Xiangli Pei, Ying Tian, Minglu Zhang, Ruizhuo Shi
Format:	Article
Language:	English
Published:	MDPI AG 2021-07-01
Subjects:	micro-deformable manipulator partial differential equation dynamic model radial basis function neural network compensator boundary proportional differential control method
Online Access:	https://www.mdpi.com/2072-666X/12/7/799