柔性机械臂的边界控制

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) Pub Date : 2001-12-04 DOI:10.1109/CDC.2001.980468

Ö. Morgül

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引用次数: 4

摘要

我们将柔性机械臂建模为夹紧在刚体上的单个柔性连杆。我们假设系统只做平面运动。对于该系统，我们提出了两个控制问题;即系统的定向和稳定性。我们提出了一类控制器来解决这些问题。

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On the boundary control of a flexible robot arm

We consider a flexible robot arm modeled as a single flexible link clamped to a rigid body. We assume that the system performs only planar motion. For this system, we pose two control problems; namely, the orientation and stabilization of the system. We propose a class of controllers to solve these problems.

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来源期刊

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

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