On the strain feedback control of a flexible robot arm

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dc.citation.epage1800en_US
dc.citation.spage1795en_US
dc.contributor.authorMorgül, Ömeren_US
dc.coverage.spatialSan Francisco, CA, USAen_US
dc.date.accessioned2016-02-08T12:17:54Z
dc.date.available2016-02-08T12:17:54Z
dc.date.issued2011en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionDate of Conference: 29 June-1 July 2011en_US
dc.descriptionConference Name: American Control Conference, IEEE 2011en_US
dc.description.abstractWe 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.en_US
dc.identifier.doi10.1109/ACC.2011.5991063en_US
dc.identifier.issn0743-1619en_US
dc.identifier.urihttp://hdl.handle.net/11693/28343
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttps://www.doi.org/10.1109/ACC.2011.5991063en_US
dc.source.titleProceedings of the American Control Conference, IEEE 2011en_US
dc.subjectDirect strain controlen_US
dc.subjectFlexible robot armen_US
dc.subjectBoundary controlsen_US
dc.subjectDistributed parameter systemsen_US
dc.subjectFlexible robotsen_US
dc.subjectLyapunoven_US
dc.subjectSemi-group theoryen_US
dc.subjectFlexible manipulatorsen_US
dc.subjectFlexible structuresen_US
dc.subjectLyapunov functionsen_US
dc.subjectRobotic armsen_US
dc.titleOn the strain feedback control of a flexible robot armen_US
dc.typeConference Paperen_US
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