On the boundary control of a flexible robot arm

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Author
Morgül, Ömer
Date
2001
Source Title
Proceedings of the 40th IEEE Conference on Decision and Control, IEEE 2001
Print ISSN
0191-2216
Publisher
IEEE
Pages
3856 - 3857
Language
English
Type
Conference Paper
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Abstract
We consider a flexible robot arm modeled as a single flexible link clamped to a rigid body. We assume that the system performs only planar motion. For this system, we pose two control problems; namely, the orientation and stabilization of the system. We propose a class of controllers to solve these problems.
Keywords
Actuators
Asymptotic stability
Control theory
Equations of motion
Force control
Laplace transforms
Motion control
System stability
Theorem proving
Torque control
Transfer functions
Boundary control
Dynamic boundary force control
Flexible robot arm
Hurwitz stable
Robotic arms
Permalink
http://hdl.handle.net/11693/27597
Published Version (Please cite this version)
https://www.doi.org/10.1109/CDC.2001.980468
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