On the boundary control of a flexible robot arm
Date
2001
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Source Title
Proceedings of the 40th IEEE Conference on Decision and Control, IEEE 2001
Print ISSN
0191-2216
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Publisher
IEEE
Volume
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Pages
3856 - 3857
Language
English
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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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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