2004年
Dynamics based force control of one-link flexible arm
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3
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- 開始ページ
- 2736
- 終了ページ
- 2741
- 記述言語
- 英語
- 掲載種別
- 出版者・発行元
- SOC INSTRUMENT CONTROL ENGINEERS JAPAN
We discuss a force control problem for a constrained one-link flexible manipulator based on distributed parameter model. The proposed control law consists of bending moment at the root of the flexible manipulator and its derivative, which regulates simultaneously the force and the rotational angle of the motor without the angle and the force information. And it provides the asymptotic stability of the closed-loop system. As the control law is derived based on the distributed parameter model, we can avoid the drawbacks resulting from finite dimensional approximation.
- リンク情報
- ID情報
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- Web of Science ID : WOS:000231324802165