Title :
On the boundary control of a flexible robot arm
Author_Institution :
Dept. of Electr. & Electron. Eng., Bilkent Univ., Ankara, Turkey
Abstract :
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
Keywords :
flexible manipulators; stability; boundary control; flexible robot arm; orientation control; planar motion; stabilization; Actuators; Control systems; Force control; Laplace equations; Motion control; Robots; Stability analysis; Torque control; Transfer functions;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980468
