An optimal energy control for a flexible robot arm

Author

Hou, Xuezhang ; Wang, Zuoquan

Author_Institution

Math. Dept., Towson Univ., Baltimore, MD, USA

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

273

Lastpage

277

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICAL.2009.5262913

Filename

5262913