Title :
Nonlinear regulation, with internal stability, of a two link flexible robot arm
Author_Institution :
Dipartimento di Inf. e Sistemistica, La Sapienza Univ., Rome, Italy
Abstract :
The problem of endpoint asymptotic tracking, with internal stability, of a two-link flexible robot arm is discussed. First the problem of exact tracking with bounded internal evolution is reviewed, and an approach for finding bounded solutions of the inverse dynamics is given. Then the linear regulator problem with internal stability is solved for the one-link case and extended to the nonlinear two-link case
Keywords :
control system analysis; dynamics; nonlinear control systems; position control; robots; stability; endpoint asymptotic tracking; flexible robot arm; inverse dynamics; nonlinear control; stability; tracking; Asymptotic stability; Computer applications; Control systems; End effectors; Equations; Manipulators; Modeling; Regulators; Robot kinematics; Torque control;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70427
