On the strain feedback control of a flexible robot arm
Author(s)
Date
2011Source Title
Proceedings of the American Control Conference, IEEE 2011
Print ISSN
0743-1619
Publisher
IEEE
Pages
1795 - 1800
Language
English
Type
Conference PaperItem Usage Stats
138
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views
107
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Abstract
We consider a flexible robot arm modeled as a rigid hub which rotates in an inertial space; a light flexible link is clamped to the rigid body at one end and is free at the other. We assume that the flexible link performs only planar motion. We assume that the strain of the flexible link at the clamped end is measurable. We show that suitable control torques applied to the rigid hub stabilizes the system and achieves orientation under certain conditions. The proposed torque contains derivative, proportional and integral terms of the strain. The stability proofs depend on the passivity of the controller transfer function.
Keywords
Direct strain controlFlexible robot arm
Boundary controls
Distributed parameter systems
Flexible robots
Lyapunov
Semi-group theory
Flexible manipulators
Flexible structures
Lyapunov functions
Robotic arms
Permalink
http://hdl.handle.net/11693/28343Published Version (Please cite this version)
https://www.doi.org/10.1109/ACC.2011.5991063Collections
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