具有内稳定性的两连杆柔性机械臂非线性调节

Proceedings of the 28th IEEE Conference on Decision and Control, Pub Date : 1989-12-13 DOI:10.1109/CDC.1989.70427

P. Lucibello

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引用次数: 19

摘要

讨论了具有内稳定性的两连杆柔性机械臂的端点渐近跟踪问题。首先回顾了具有有界内演化的精确跟踪问题，给出了求逆动力学有界解的一种方法。然后，求解了单连杆情况下的具有内稳定性的线性调节器问题，并将其推广到非线性双连杆情况。

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Nonlinear regulation, with internal stability, of a two link flexible robot arm

The problem of endpoint asymptotic tracking, with internal stability, of a two-link flexible robot arm is discussed. First the problem of exact tracking with bounded internal evolution is reviewed, and an approach for finding bounded solutions of the inverse dynamics is given. Then the linear regulator problem with internal stability is solved for the one-link case and extended to the nonlinear two-link case.<>

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Proceedings of the 28th IEEE Conference on Decision and Control,

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