On the boundary control of a flexible robot arm
Date
2001
Authors
Advisor
Instructor
Source Title
Proceedings of the 40th IEEE Conference on Decision and Control, IEEE 2001
Print ISSN
0191-2216
Electronic ISSN
Publisher
IEEE
Volume
Issue
Pages
3856 - 3857
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
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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Book Title
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