Modeling and robust force control of constrained one-link flexible arms

DOI<447::AID-ROB2>3.0.CO;2-L 10.1002/(SICI)1097-4563(199808)15:8<447::AID-ROB2>3.0.CO;2-LzbMath0944.74060OpenAlexW1988862987MaRDI QIDQ4269719

Shozaburo Kasai, Fumitoshi Matsuno

Publication date: 11 September 2000

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199808)15:8<447::aid-rob2>3.0.co;2-l

zbMATH Keywords

robust controleigenfunctionspartial differential equationsroboticsinhomogeneous boundary conditionsHamilton's principleconstraintsLagrangian multiplierposition controlforce controlflexible beamdistributed parametersfilter controlled closed loop

Mathematics Subject Classification ID

Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Control, switches and devices (``smart materials) in solid mechanics (74M05) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (6)

Improving the position control of a two degrees of freedom robotic sensing antenna using fractional-order controllers ⋮ Non-collocated boundary control for contact-force control of a one-link flexible arm ⋮ Trajectory and Force Control of a Manipulator with Elastic Links ⋮ Robust force control of a flexible arm with a nonsymmetric rigid tip body ⋮ Force control and exponential stabilisation of one-link flexible arm ⋮ A boundary control for motion synchronization of a two-manipulator system with a flexible beam

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