A control theory for Cartesian flexible robot arms

JOURNAL OF MATHEMATICAL ANALYSIS AND APPLICATIONS

卷:225

Article

Hou, XZ ; Tsui, SK

关键词: the beam equation;    control systems;    controllability;    observability;    stability;    stabilization;    Lyapunov functions;    compact resolvents;    self-adjoint operators;   

DOI  :  10.1006/jmaa.1998.6027

来源: Elsevier

【 摘 要 】

In this article, we first use a fourth order partial differential equation with boundary conditions to model a flexible robot arm on a moving base with a payload at the tip end. Through the state-space formulation, we show that such a system is both controllable and observable in an infinite dimensional Hilbert space. We also show that the system is stabilizable via a feedback control. (C) 1998 Academic Press.

【 授权许可】

Free