Shear force feedback control of a single-link flexible robot with a revolute joint

Author

Luo, Zheng-Hua ; Guo, Bao-Zhu

Author_Institution

Dept. of Mech. Eng., Nagaoka Univ. of Technol., Niigata, Japan

Volume

42

Issue

1

fYear

1997

fDate

1/1/1997 12:00:00 AM

Firstpage

53

Lastpage

65

Abstract

In this paper we present a shear force feedback control method for a single-link flexible robot arm with a revolute joint for which it has been shown that direct bending strain feedback can suppress its vibration. Our primary concern is the stability analysis of the closed-loop equation which has not appeared in the literature. We show the existence of a unique solution and the exponential stability of this solution by doing spectral analysis and estimating the norm of the resolvent operator associated with this equation. Some experiments are also conducted to verify these theoretical developments

Keywords

asymptotic stability; closed loop systems; feedback; flexible structures; force control; robots; spectral analysis; vibration control; closed-loop equation; direct bending strain feedback; exponential stability; revolute joint; shear force feedback control; single-link flexible robot; spectral analysis; stability analysis; vibration suppression; Automatic control; Equations; Force control; Force feedback; Motion control; Robot sensing systems; Robotics and automation; Strain control; Strain measurement; Vibration control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.553687

Filename

553687