JOURNAL ARTICLE
Tracking control of flexible robot arms
Abstract
A controller for solving the tracking problem of flexible robot arms with revolute joints is presented. In order to achieve this goal, the desired trajectory for the link (the flexible) coordinates is computed from the model of the robot arm. while the desired one for the joint (the rigid) coordinates can be assigned arbitrarily. The case of no structural damping is also considered.
Keywords:
Revolute joint Trajectory Control theory (sociology) Robot Tracking (education) Computer science Controller (irrigation) Arm solution Robotic arm Robot kinematics Robot control Control engineering Control (management) Engineering Mobile robot Artificial intelligence Physics
Metrics
1
Cited By
0.74
FWCI (Field Weighted Citation Impact)
14
Refs
0.68
Citation Normalized Percentile
Is in top 1%
Is in top 10%
Topics
Dynamics and Control of Mechanical Systems
Physical Sciences → Engineering → Control and Systems Engineering
Robotic Mechanisms and Dynamics
Physical Sciences → Engineering → Control and Systems Engineering
Adaptive Control of Nonlinear Systems
Physical Sciences → Engineering → Control and Systems Engineering
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