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Stability analysis of position and force control for robot arms

โœ Scribed by Wen, J.T.; Murphy, S.


Book ID
115447908
Publisher
IEEE
Year
1991
Tongue
English
Weight
740 KB
Volume
36
Category
Article
ISSN
0018-9286

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A mathematical model for a long elastic torsional robot beam is determined. The above system can be expressed as an evolution equation on a Hilbert space. Furthermore the system is shown to be stable and controllable, and we design a controller for the system.