On the boundary control of a flexible robot arm

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On the boundary control of a flexible robot arm.pdf (138.75 KB)

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2001

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Abstract

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.

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Proceedings of the 40th IEEE Conference on Decision and Control, IEEE 2001

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IEEE

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Keywords

Actuators, Asymptotic stability, Control theory, Equations of motion, Force control, Laplace transforms, Motion control, System stability, Theorem proving, Torque control, Transfer functions, Boundary control, Dynamic boundary force control, Flexible robot arm, Hurwitz stable, Robotic arms

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http://hdl.handle.net/11693/27597

Published Version (Please cite this version)

https://www.doi.org/10.1109/CDC.2001.980468

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Scholarly Publications - Electrical and Electronics Engineering

Language

English

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Conference Paper