On tracking control of flexible robot arms

Authors
Arteaga, MA Siciliano, B
Citation
Ma. Arteaga et B. Siciliano, On tracking control of flexible robot arms, IEEE AUTO C, 45(3), 2000, pp. 520-527
Citations number
12
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN journal
00189286 → ACNP
Volume
45
Issue
3
Year of publication
2000
Pages
520 - 527
Database
ISI
SICI code
0018-9286(200003)45:3<520:OTCOFR>2.0.ZU;2-I
Abstract
A controller for solving the tracking problem of flexible robot arms is pre sented. In order to achieve this goal, the desired trajectory for the link (flexible) coordinates is computed from the dynamic model of the robot arm and is guaranteed to be bounded, and the desired trajectory for the joint ( rigid) coordinates can be assigned arbitrarily. The case of no internal dam ping is also considered, and a robust control technique is used to enhance the damping of the system.