On the Control of Two-link Flexible Robot Arm with Nonuniform Cross Section
نویسندگان
چکیده
منابع مشابه
Simultaneous optimization of a two-link flexible robot arm
Integrated structure control design of a two-link flexible robot arm is investigated in this article. The whole arm consists of two flexible links, a fixed joint, a moving joint, and a tip load. The arm is driven by the torque motors at the two joints to reach predefined tip positions and to suppress residual flexural vibrations. The links of the arm are modeled using the finite element method ...
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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 ...
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ژورنال
عنوان ژورنال: Journal of Vibration and Control
سال: 2010
ISSN: 1077-5463,1741-2986
DOI: 10.1177/1077546309340994