Asymptotically stable end-point regulation of a flexible SCARA/Cartesian robot

Author

Ge, S.S. ; Lee, T.H. ; Zhu, G.

Author_Institution

Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore

Volume

3

Issue

2

fYear

1998

fDate

6/1/1998 12:00:00 AM

Firstpage

138

Lastpage

144

Abstract

Presents a class of asymptotically stable end-point regulators for a flexible SCARA/Cartesian robot. Firstly, the closed-loop stability is proven for the original distributed parameter system; then, through explicitly solving the partial differential equations of the system, asymptotic stability is obtained for the undamped truncated system, in which the distributed flexibility of the robot link is represented by an arbitrary finite number of flexible modes. The controllers possess some attractive advantages for practical applications. Computer simulations are provided to illustrate the effectiveness of the approach

Keywords

asymptotic stability; closed loop systems; distributed parameter systems; partial differential equations; robot dynamics; asymptotically stable end-point regulation; closed-loop stability; flexible SCARA/Cartesian robot; robot link; undamped truncated system; Asymptotic stability; Control systems; Feedback; PD control; Partial differential equations; Robot control; Robotic assembly; Robotics and automation; Service robots; Vibration control;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.686682

Filename

686682