Title :
On tracking control of flexible robot arms
Author :
Arteaga, Marco A. ; Siciliano, Bruno
Author_Institution :
Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
fDate :
3/1/2000 12:00:00 AM
Abstract :
A controller for solving the tracking problem of flexible robot arms is presented. In order to achieve this goal, the desired trajectory for the link (flexible) coordinates is computed from the dynamic model of the robot arm and is guaranteed to be bounded, and the desired trajectory for the joint (rigid) coordinates can be assigned arbitrarily. The case of no internal damping is also considered, and a robust control technique is used to enhance the damping of the system
Keywords :
damping; flexible manipulators; manipulator dynamics; nonlinear control systems; position control; robust control; damping; dynamic model; flexible robot arms; tracking control; Circuits; Control systems; Delay effects; Delay systems; Feedback; Frequency; Manipulators; Robot control; Robust control; Sampling methods;
Journal_Title :
Automatic Control, IEEE Transactions on
