Title :
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
fDate :
1/1/1997 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
