Title :
Control of a flexible robot arm
Author :
Seidman, Thomas I.
Author_Institution :
Dept. of Math. & Stat., Maryland Univ., Baltimore, MD, USA
Abstract :
A flexible robot arm, supported at a prismatic joint so that the length of (the relevant part of) the rod is variable, is modelled. The variation in the length of the arm is taken to be the control action. The principal results are exact controllability for the consideration of purely longitudinal vibrations (wave equation) and the existence of optimal controls in the more practically interesting case of transverse vibrations (Euler-Bernoulli beam equation). In each case, a free boundary problem is considered
Keywords :
controllability; distributed parameter systems; large-scale systems; optimal control; robots; Euler-Bernoulli beam equation; arm length variation; exact controllability; flexible robot arm; free boundary problem; optimal controls; prismatic joint; purely longitudinal vibrations; transverse vibrations; wave equation; Aerodynamics; Boundary conditions; Electronic mail; Mathematics; Motion control; Optimal control; Partial differential equations; Robot kinematics; Statistics; Vibration control;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70583
