On the strain feedback control of a flexible robot arm

Date
2011
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Source Title
Proceedings of the American Control Conference, IEEE 2011
Print ISSN
0743-1619
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Publisher
IEEE
Volume
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Pages
1795 - 1800
Language
English
Type
Conference Paper
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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.

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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
Citation
Published Version (Please cite this version)