End Point Force Control of a Flexible Timoshenko Arm

Force Control and Exponential Stability for One-link Flexible Arm

We discuss a force control problem for a constrained one-link flexible arm based on distributed parameter model. In order to solve the force control problem, we propose a simple feedback control law. This control law consists of bending moment at the root of the flexible arm and its derivative, which regulates simultaneously the force and the rotational angle of the motor without the angle and ...

Control of Flexible Robot Arm

T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...

Control of a Flexible Robot Arm

We model a exible robot arm supported at a prismatic joint so the length of (the relevant part of) the rod is variable | indeed, this variation in the length of the arm is taken to be the control action. The principal results are: exact controllability for the consideration of purely longitudinal vibrations (wave equation) and the existence of optimal controls in the more practically interestin...

A New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control

In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...

Robust Control of a Flexible Arm