Title :
A Novel Control Strategy and an Asymptotically Stable for Flexible Link Robot
Author_Institution :
Fac. of Inf. Sci. & Eng., Ningbo Univ., Ningbo
Abstract :
The novel control strategies are proposed for the one link flexible arm. In this paper, we introduced the model of the one link flexible arm. Then using above model, we got two new control strategies to ensure an asymptotically stable for flexible link robot according to Lyapunov function method.
Keywords :
Lyapunov methods; asymptotic stability; flexible manipulators; Lyapunov function method; asymptotic stability; control strategy; flexible link robot; one link flexible arm; Arm; Control systems; Distributed parameter systems; Energy consumption; Equations; Lightweight structures; Manipulator dynamics; Orbital robotics; PD control; Robots; Lyapunov function; Robot; control strategy;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340083
