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)

Date

2001

Authors

Morgül, Ömer

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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

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Pages

3856 - 3857

Language

English

Type

Conference Paper

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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

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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