On tracking control of flexible robot arms

被引：33

作者：

Arteaga, MA ^{[1
]}

Siciliano, B

机构：

[1] Univ Nacl Autonoma Mexico, DEPFI, Mexico City 04510, DF, Mexico

[2] Univ Naples Federico II, Dipartimento Informat & Sistemist, I-80125 Naples, Italy

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 03期

关键词：

flexible robot arms; nonlinear control; robust control; tracking control;

D O I：

10.1109/9.847736

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A controller for solving the tracking problem of flexible robot arms is presented. In order to achieve this goal, the desired trajectory for the link (flexible) coordinates is computed from the dynamic model of the robot arm and is guaranteed to be bounded, and the desired trajectory for the joint (rigid) coordinates can be assigned arbitrarily. The case of no internal damping is also considered, and a robust control technique is used to enhance the damping of the system.

引用

页码：520 / 527

页数：8

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