Title :
Observer design for a flexible robot arm with a tip load
Author :
Nguyen, Tu Duc ; Egeland, Olav
Author_Institution :
Fac. of Inf. Technol., Math. & Electr. Eng., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
In this paper, we consider the observer design for a flexible robot arm with a tip load. The robot arm is modeled as an Euler-Bernoulli beam. The beam is clamped to a motor at one end and attached to a force actuator at the other. Based on measurements at the boundaries, an exponentially stable observer is proposed. The existence, uniqueness and stability of solutions of the proposed observer are based on semigroup theory. Numerical simulation results are included to illustrate the performance of the proposed observer.
Keywords :
asymptotic stability; flexible manipulators; group theory; observers; Euler-Bernoulli beam; exponentially stable observer; flexible robot arm; observer design; semigroup theory; tip load; Actuators; Boundary conditions; Control system synthesis; Control systems; Distributed parameter systems; Mechanical systems; Partial differential equations; Robots; Stability; Structural beams;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470159
