Title :
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
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;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.707328
