Control and stability of a torsional elastic robot arm

DOI10.1006/jmaa.1999.6666zbMath0979.93055OpenAlexW2052886370MaRDI QIDQ1972560

Yanyan Li

Publication date: 19 February 2002

Published in: Journal of Mathematical Analysis and Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1006/jmaa.1999.6666

zbMATH Keywords

stabilitycontrollabilitysemigroupvibrationscompact operatortransverse vibrationsrobotic armcantilevered beamcoupled torsional vibrationsinternal damping of Voigt type

Mathematics Subject Classification ID

Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Control, switches and devices (``smart materials) in solid mechanics (74M05) Controllability (93B05) Control/observation systems governed by partial differential equations (93C20) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Kinematics of mechanisms and robots (70B15)

Related Items (3)

A feedback control and a simulation of a torsional elastic robot arm. ⋮ Force control and exponential stabilisation of one-link flexible arm ⋮ Analysis and control of a two-link and three-joint elastic robot arm

Cites Work

• Semigroups of linear operators and applications to partial differential equations
• Spectral decompositions on Banach spaces
• A control theory for Cartesian flexible robot arms
• Modeling and control of coupled bending and torsional vibrations of flexible beams
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