Title :
Regulation of a flexible link SCARA/Cartesian robot
Author :
Zhu, G. ; Ge, S.S. ; Lee, T.H.
Author_Institution :
Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
All asymptotically stable regulation approach is presented for a flexible link SCARA/Cartesian robot. Firstly, the closed-loop stability is proven for the original distributed-parameter system: then, through explicitly solving the Partial Differential Equations (PDEs) of the system. asymptotic stability is proven for the undamped truncated system, in which the distributed flexibility of the robot link is represented by an arbitrary finite number of flexible modes. The controllers possess some attractive advantages to practical applications.
Keywords :
asymptotic stability; closed loop systems; distributed parameter systems; flexible manipulators; partial differential equations; PDE; asymptotic stability regulation; closed-loop stability; distributed-parameter system; flexible link SCARA/Cartesian robot; partial differential equation; Asymptotic stability; Force; Mathematical model; Service robots; Stability analysis; Vibrations; Flexible structures; Robotics; Vibrational control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
