• DocumentCode
    700535
  • Title

    Tracking control of flexible robot arms

  • Author

    Arteaga, Marco A.

  • Author_Institution
    Dept. of Meas. & Control, Univ. of Duisburg, Duisburg, Germany
  • fYear
    1997
  • fDate
    1-7 July 1997
  • Firstpage
    623
  • Lastpage
    628
  • Abstract
    A controller for solving the tracking problem of flexible robot arms with revolute joints is presented. In order to achieve this goal, the desired trajectory for the link (the flexible) coordinates is computed from the model of the robot arm. while the desired one for the joint (the rigid) coordinates can be assigned arbitrarily. The case of no structural damping is also considered.
  • Keywords
    dexterous manipulators; robust control; trajectory control; flexible robot arms; joint coordinates; link coordinates; revolute joint; structural damping; tracking control; Damping; Gravity; Joints; Manipulators; Robot kinematics; Trajectory; Robotics; nonlinear control; robust control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Conference (ECC), 1997 European
  • Conference_Location
    Brussels
  • Print_ISBN
    978-3-9524269-0-6
  • Type

    conf

  • Filename
    7082165
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=700535