Title :
An optimal energy control for a flexible robot arm
Author :
Hou, Xuezhang ; Wang, Zuoquan
Author_Institution :
Math. Dept., Towson Univ., Baltimore, MD, USA
Abstract :
In this paper, we are concerned with a flexible robot arm formulated by partial differential equations with initial and boundary conditions. An optimal energy control of the robot system is investigated after the system has been transformed to an abstract evolution system in an appropriate Hilbert space. The existence and uniqueness of the optimal energy control are discussed and proved, and an approximation result is obtained in terms of semigroup methods of linear operators.
Keywords :
Hilbert spaces; flexible manipulators; group theory; optimal control; partial differential equations; power control; Hilbert space; abstract evolution system; flexible robot arm; linear operators; optimal energy control; partial differential equations; semigroup methods; Boundary conditions; Control systems; Hilbert space; Optimal control; Orbital robotics; Partial differential equations; Robotics and automation; Robots; Space technology; Vibration control; Euler-Bernoulli Beam; Flexible Robot Arm; Optimal Control of System; Semigroup of Linear Operators;
Conference_Titel :
Automation and Logistics, 2009. ICAL '09. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
978-1-4244-4794-7
Electronic_ISBN :
978-1-4244-4795-4
DOI :
10.1109/ICAL.2009.5262913
