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      On the boundary control of a flexible robot arm

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      Author(s)
      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
      Item Usage Stats
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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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      • Department of Electrical and Electronics Engineering 3702
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