Effects of tip mass and actuator inertia on the behavior of a flexible arm robot

2002 ◽  
Author(s):  
A.A. Ata ◽  
S.M. ElKhoga
Keyword(s):  
Flexible Arm ◽  
Tip Mass

scholarly journals PDS Feedback Control of a Two-Link Flexible Arm with a Tip Mass

2001 ◽  
Vol 14 (1) ◽  
pp. 26-32 ◽  
Author(s):  
Fumitoshi MATSUNO ◽  
Kazutaka MURATA
Keyword(s):  
Feedback Control ◽  
Flexible Arm ◽  
Tip Mass

Closed-loop end-point control of a two-link flexible arm with a tip mass

1989 ◽  
Vol 133 (3) ◽  
pp. 483-495 ◽  
Author(s):  
S. Chonan ◽  
A. Umeno
Keyword(s):  
Closed Loop ◽  
End Point ◽  
Flexible Arm ◽  
Point Control ◽  
Tip Mass

Closed-loop displacement control of a one-link flexible arm with a tip mass.

1988 ◽  
Vol 54 (498) ◽  
pp. 363-370 ◽  
Author(s):  
Motoaki TAHARA ◽  
Seiji CHONAN
Keyword(s):  
Closed Loop ◽  
Displacement Control ◽  
Flexible Arm ◽  
Tip Mass

Inverse Optimal Boundary Tracking Control and Observer Design for a One-Link Rotating Flexible Arm

2020 ◽  
Vol 142 (12) ◽  
Author(s):  
K. D. Do
Keyword(s):  
Boundary Control ◽  
Reference Model ◽  
Tracking Error ◽  
Observer Design ◽  
Control Law ◽  
Control Approach ◽  
Optimal Boundary ◽  
Flexible Arm ◽  
Hamilton Jacobi Bellman ◽  
Tip Mass

Abstract A new design of an inverse optimal boundary control law is first proposed to force a one-link rotating flexible arm with a tip mass subject to bounded disturbances to track a reference model. The proposed boundary control law ensures global practical exponential stability of the tracking error system and is optimal in the sense that it minimizes a cost functional that appropriately penalizes both the tracking errors and the boundary control without having to solve a Hamilton–Jacobi–Bellman equation. Based on the above boundary control development, an observer-control approach is proposed to design a new inverse optimal observer that globally practically exponentially estimates the one-link rotating flexible arm's states using only measurements at the actuated boundary.

Small Motion Experiments on a Large Flexible Arm with Strain Feedback

1989 ◽  
Author(s):  
B. S. Yuan ◽  
J. D. Huggins ◽  
W. J. Book
Keyword(s):  
Small Motion ◽  
Flexible Arm

scholarly journals Dynamics, chaos and synchronization of self-sustained electromechanical systems with clamped-free flexible arm

2007 ◽  
Vol 53 (3) ◽  
pp. 201-213 ◽  
Author(s):  
C. A. Kitio Kwuimy ◽  
P. Woafo
Keyword(s):  
Electromechanical Systems ◽  
Flexible Arm

Accurate Trajectory Tracking of Flexible Arm End-Point

2000 ◽  
Vol 33 (27) ◽  
pp. 321-326 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Trajectory Tracking ◽  
End Point ◽  
Flexible Arm
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