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Proceedings Paper

Control of single-link flexible arms with bounded unknown payload
Author(s): Lilong Cai
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Paper Abstract

Control of a class of single-link flexible robot arms with bounded unknown pay-load is addressed in this paper. The Lyapunov's direct method is used to prove the asymptotical stability of the closed-loop system under the proposed linear controller. The stability analysis is performed directly on the system's partial differential governing equation, so that no approximation is involved. Thus the 'spillover' problem, which is caused by using finite dimensional (truncated) models to approximate the infinite dimensional models of distributed parameter systems, is eliminated. It is theoretically shown that a simple linear controller with feedback of only joint variables is sufficient to stabilize asymptotically the complex system of a flexible arm with bounded unknown payload. A numerical example of a single-link flexible arm with bounded unknown payload is presented for illustration.

Paper Details

Date Published: 28 August 1995
PDF: 6 pages
Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217559
Show Author Affiliations
Lilong Cai, Hong Kong Univ. of Science and Technology (Hong Kong)

Published in SPIE Proceedings Vol. 2620:
International Conference on Intelligent Manufacturing
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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