A novel approach to the modelling and control of flexible robot armsA 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.
Document ID
19890041124
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Ding, Xuru (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tarn, Tzyh-Jong (Washington University Saint Louis, MO, United States)
Bejczy, Antal K. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)