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Proceedings Paper

Linear robust control of very flexible one-link manipulator arm
Author(s): Victor V. Korolov
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Paper Abstract

In this sequel to work previously completed by Korolov and Chen, we design the end-point position control of a one-link flexible robot arm subjected to a wise spectrum of operational conditions. The linear control scheme designed here treats the possible variations of natural frequencies as uncertainties and is robust if the uncertainties stay inside specified bounds. The results of the simulation of this scheme are compared with simulations of the non-linear controller for the same arm.

Paper Details

Date Published: 30 April 1992
PDF: 8 pages
Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); doi: 10.1117/12.57946
Show Author Affiliations
Victor V. Korolov, Wayne State Univ. (United States)

Published in SPIE Proceedings Vol. 1611:
Sensor Fusion IV: Control Paradigms and Data Structures
Paul S. Schenker, Editor(s)

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