On the boundary control of a flexible robot arm
On the boundary control of a flexible robot arm
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.
- Bilkent University Turkey
Hurwitz stable, Asymptotic stability, Boundary control, Laplace transforms, Dynamic boundary force control, Force control, System stability, Control theory, Equations of motion, Torque control, Transfer functions, Motion control, Theorem proving, Actuators, Flexible robot arm, Robotic arms
Hurwitz stable, Asymptotic stability, Boundary control, Laplace transforms, Dynamic boundary force control, Force control, System stability, Control theory, Equations of motion, Torque control, Transfer functions, Motion control, Theorem proving, Actuators, Flexible robot arm, Robotic arms
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