A Control Theory for Cartesian Flexible Robot Arms
โ Scribed by Xuezhang Hou; Sze-kai Tsui
- Publisher
- Elsevier Science
- Year
- 1998
- Tongue
- English
- Weight
- 265 KB
- Volume
- 225
- Category
- Article
- ISSN
- 0022-247X
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๐ SIMILAR VOLUMES
A global dynamic output feedback tracking controller for robots with elastic joints is presented. The controller only requires the measurements of position and speed of each link, and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists of
Considered is the rotation of a robot arm or rod in a horizontal plane about an axis through the arm's fixed end and driven by a motor whose torque is controlled. The model was derived and investigated computationally by Sakawa and co-authors in [7] for the case that the arm is described as a homoge