SHEAR FORCE FEEDBACK-CONTROL OF A SINGLE-LINK FLEXIBLE ROBOT WITH A REVOLUTE JOINT

In this paper we present a shear force feedback control method for a s ingle-link flexible robot arm with a revolute joint for which it has b een shown that direct bending strain feedback can suppress its vibrati on. Our primary concern is the stability analysis of the closed-loop e quation which has not appeared in the literature. We show the existenc e of a unique solution and the exponential stability of this solution by doing spectral analysis and estimating the norm of the resolvent op erator associated with this equation. Some experiments are also conduc ted to verify these theoretical developments.