DocumentCode :
2219973
Title :
Simple boundary control of two one-link flexible arms for grasping
Author :
Endo, Takahiro ; Matsuno, Fumitoshi ; Kawasaki, Haruhisa
Author_Institution :
Gifu Univ., Gifu
fYear :
2007
fDate :
1-3 Oct. 2007
Firstpage :
244
Lastpage :
249
Abstract :
This paper is concerned with a grasping task by means of two one-link flexible arms. To accomplish this task, we propose simple boundary control based on the dynamic model, which consists of partial differential equations (PDEs) and ordinary differential equations (ODEs) subject to the geometric constraints. Since the data, which is needed in the implementation of the controller, can be obtained by the strain gauge and the rotary encoder, it is easy to implement the controller. Furthermore, the controller is derived based on the original infinite dimensional model, and the stability of the closed-loop system is given by using the semigroup theory and the LaSalle´s invariance principle which is extended to the infinite dimensional systems. Thus we can avoid the drawbacks resulting from the finite dimensional approximation.
Keywords :
closed loop systems; flexible manipulators; group theory; multidimensional systems; partial differential equations; stability; strain gauges; closed-loop system stability; infinite dimensional systems; invariance principle; one-link flexible arms; ordinary differential equations; partial differential equations; semigroup theory; simple boundary control; strain gauge; Arm; Capacitive sensors; Control systems; Force control; Position control; Rotors; Solid modeling; Stability; Strain control; Vibration control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0442-1
Electronic_ISBN :
978-1-4244-0443-8
Type :
conf
DOI :
10.1109/CCA.2007.4389238
Filename :
4389238
Link To Document :
بازگشت