Modeling and robust force control of a constrained flexible arm with a non-symmetric rigid tip body

Author

Matsuno, Fumitoshi ; Kansawa, T.

Author_Institution

Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan

Volume

1

fYear

1998

fDate

13-17 Oct 1998

Firstpage

508

Abstract

Modeling and robust control of force and vibrations of a flexible arm with an asymmetric rigid tip body are discussed. By using Hamilton´s principle and Lagrange multiplier method, dynamic equations of the constrained flexible arm are derived. We analyze the stability of the compliance control and the direct force feedback as the force control of the flexible arm. We construct robust controllers of an optimal controller with low-pass property and an H_∞ controller. Simulations have been carried out

Keywords

H^∞ control; compliance control; control system synthesis; flexible manipulators; force control; force feedback; robust control; vibration control; Hamilton´s principle; Lagrange multiplier method; asymmetric rigid tip body; constrained flexible arm; direct force feedback; dynamic equations; low-pass property; robust force control; Computational intelligence; Equations; Force control; Lagrangian functions; Manipulators; Optimal control; Robust control; Robust stability; Symmetric matrices; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724669

Filename

724669