Title :
Modelling and control of flexible robot arms
Author :
Kanoh, H. ; Tzafestas, S. ; Lee, Ho ; Kalat, J.
Author_Institution :
Meiji University, Kawasaki City, Japan
Abstract :
This paper surveys modeling and control problems of flexible robot arm systems. The flexibilities of the robot arm system are divided into two categories, namely the flexibility due to the nonlinearity in the drive system and the flexibility due to the elasticity of the arms which has properties of distributed parameter system. For these two systems, various modeling methods and control laws are reviewed, along with a discussion of the effect of the sensor location.
Keywords :
Arm; Control systems; Energy consumption; Equations; Finite element methods; Lagrangian functions; Manipulators; Robot control; Robot sensing systems; Vibrations;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267312
