A novel approach to the modelling and control of flexible robot arms

Author

Ding, Xuru ; Tarn, Tzyh-Jong ; Bejczy, Antal K.

Author_Institution

Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA

fYear

1988

fDate

7-9 Dec 1988

Firstpage

52

Abstract

A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm

Keywords

distributed parameter systems; integral equations; multidimensional systems; partial differential equations; robots; diffeomorphic state transformation; distributed parameter systems; flexible robot arms; general dynamic model; infinite-dimensional system; input-output decoupling; local stability; multidimensional systems; nonlinear state feedback; one-link flexible robot arm; partial-differential-integral equations; two-link Euler-Bernoulli beam; Control systems; Differential equations; Manipulators; Mathematics; Nonlinear dynamical systems; Nonlinear equations; Partial differential equations; Robot control; Robot kinematics; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1988., Proceedings of the 27th IEEE Conference on

Conference_Location

Austin, TX

Type

conf

DOI

10.1109/CDC.1988.194268

Filename

194268