On the controllability of a robot arm
A one d.o.f. flexible link robotic manipulator is considered; it is able to move horizontally under a control torque exerted at its joint. The equations of motion of the manipulator are of the form \[ \dot\varphi= \omega, \] \[ \dot\omega= u,\tag{\(*\)} \] \[ y_{tt}+\alpha y_{xxxx}- 1/2\omega^2\partial/\partial x[(1- x^2)y_x]- \omega^2 y=- xu, \] where \(y= y(t, x)\), \(t\in[0, T]\) denotes the displacement of the arm. The boundary conditions are \(y(t,0)= y_x(t, 0)= y_{xx}(t, l)= y_{xxx}(t, l)= 0\). It is assumed that at the beginning of the motion, the arm is at rest, i.e. \(y(0, x)= y_t(0, x)= 0\) and \(\varphi(0)= \dot\varphi(0)= 0\). The problem addressed is about controllability: given a prescribed value of the rotation angle \(\varphi(T)\) and assuming that \(\dot\varphi(T)= 0\), find a control function producing \(\varphi(T)\) and guaranteeing satisfaction of the conditions \(y(T, x)= y_t(T, x)= 0\). It is proved that for any \(L^2\)-control, there exists a unique weak solution to the system \((*)\). Then the controllability problem is shown to be equivalent to a moment problem which, however, is not exactly solvable. An approximate solution is proposed and implemented numerically.
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