Title :
Study of input-output stability rule of elastic motion of flexible manipulator arm
Author :
Xiaojun, Guo ; Gangrui, Liu ; Yi, Ning ; Jingkai, Bi
Author_Institution :
Ind. Sch., Huanghe Sci. & Technol. Univ., Zhengzhou, China
Abstract :
The necessary and sufficient condition of input-output stability of control system and its significance to the design and control application of flexible manipulator arm are described in the place, then the necessary and sufficient condition of input-output stability is simplified to make the criterion simple and easy. lt is pointed out in the end that the input-output stability criterion may be used to analyse the effect of end position addition mass and drive joint rotary inertia and mode rotary inertia on the input-output stability of control system of flexible manipulator arm.
Keywords :
control system synthesis; flexible manipulators; manipulator dynamics; stability; drive joint rotary inertia; elastic motion; end position addition mass; flexible manipulator arm; input-output stability; mode rotary inertia; necessary condition; sufficient condition; Educational institutions; Joints; Manipulator dynamics; Stability criteria; Sufficient conditions; drive joint rotary inertia; input-output stability criterion; mode rotary inertia;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5777240
