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      On the strain feedback control of a flexible robot arm

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      Author(s)
      Morgül, Ömer
      Date
      2011
      Source Title
      Proceedings of the American Control Conference, IEEE 2011
      Print ISSN
      0743-1619
      Publisher
      IEEE
      Pages
      1795 - 1800
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
      138
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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 control
      Flexible 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/11693/28343
      Published Version (Please cite this version)
      https://www.doi.org/10.1109/ACC.2011.5991063
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      • Department of Electrical and Electronics Engineering 3702
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