DocumentCode
1348625
Title
On tracking control of flexible robot arms
Author
Arteaga, Marco A. ; Siciliano, Bruno
Author_Institution
Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Volume
45
Issue
3
fYear
2000
fDate
3/1/2000 12:00:00 AM
Firstpage
520
Lastpage
527
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.847736
Filename
847736
Link To Document