On the boundary control of a flexible robot arm
Proceedings of the IEEE Conference on Decision and Control
Institute of Electrical and Electronics Engineers
3856 - 3857
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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.
Equations of motion
Dynamic boundary force control
Flexible robot arm
Published Version (Please cite this version)https://www.doi.org/10.1109/CDC.2001.980468
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