Closed-loop stability analysis of a flexible robot arm using feedback control

Author

Zhang, Rongjun ; Chen, Yaobin ; Sun, Zengqi ; Sun, Fuchun

Author_Institution

Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA

Volume

3

fYear

1998

fDate

21-26 Jun 1998

Firstpage

1809

Abstract

Presents a strategy for stability analysis of a feedback controlled flexible arm without truncation. The unconstrained modal analysis method is used to derive a set of infinite dimensional ordinary differential equations (ODEs) with rigidity-flexibility decoupled. Based on this set of ODEs, matrix factorization and its relevant techniques are employed to analyze the closed-loop stability of the system under feedback control. Several common feedback controlled systems were studied. Validation through comparative and experimental studies is presented

Keywords

closed loop systems; differential equations; feedback; manipulator dynamics; matrix algebra; stability; closed-loop stability analysis; feedback control; flexible robot arm; infinite dimensional ordinary differential equations; matrix factorization; unconstrained modal analysis method; Adaptive control; Boundary conditions; Differential equations; Feedback control; Modal analysis; Payloads; Performance analysis; Robots; Stability analysis; Sun;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.707328

Filename

707328