Control and stabilization of a flexible robot arm

DOI10.1080/02681119008806082zbMATH Open0695.93078OpenAlexW2004513168MaRDI QIDQ3471983FDOQ3471983

Authors: Günter Leugering 

Publication date: 1990

Published in: Dynamics and Stability of Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/02681119008806082

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zbMATH Keywords

Lyapunov functionuniform exponential stabilityflexible robot arm

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Application models in control theory (93C95) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Cites Work

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• Modeling, Stabilization and Control of Serially Connected Beams
• Exponential stabilization of Volterra integrodifferential equations in Hilbert space
• Boundary Stabilization of Linear Elastodynamic Systems

Cited In (29)

• Force control and exponential stabilisation of one-link flexible arm
• On the controllability of a robot arm
• Ullrich conditions and smoothness of reachable states of a rotating beam
• Resonance in a high-speed flexible-arm robot
• Global regulation of a planar robot arm striking a surface
• Asymptotically stable set point control laws for flexible robots
• Virtual passive control of flexible arms with collocated and noncollocated feedback.
• Direct strain feedback control of flexible robot arms: new theoretical and experimental results
• On the controllability of a slowly rotating Timoshenko beam
• Title not available (Why is that?)
• Contact-Force Control of a Flexible Timoshenko Arm
• Title not available (Why is that?)
• Variable structure trajectory control of an elastic robotic arm
• On robots with flexible links: dynamics, control and stability
• Precise control for vibration of rigid--flexible mechanical arm
• Title not available (Why is that?)
• Adaptive Output Regulation of a Flexible Arm
• A feedback control and a simulation of a torsional elastic robot arm.
• Title not available (Why is that?)
• Experimental control of a single-link flexible robot arm using energy shaping
• Title not available (Why is that?)
• Control of a Flexible Robot Arm: Experimental and Theoretical Results
• Comparative study of post-impact motion control of a flexible arm space robot
• On the analytic solution of a controlled flexible arm system with structural damping
• Stabilization of structurally damped systems by time-delayed feedback control
• Construction of the control realizing the rotation of a Timoshenko beam
• Joint stiffness control of a two-link flexible arm
• Mathematical modeling and analysis for robotic control
• On the control of two-link flexible robot arm with nonuniform cross-section

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