Asymptotically stable end-point regulation of a flexible SCARA/Cartesian robot

IEEE/ASME Transactions on Mechatronics

Volumn 3, Issue 2, 1998, Pages 138-144

  Ge, S S ^a   Lee, T H ^a   Zhu, G ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

Distributed parameter system; Flexible SCARA Cartesian robot; Regulation

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; DISTRIBUTED PARAMETER CONTROL SYSTEMS; PARTIAL DIFFERENTIAL EQUATIONS; ROBOTIC ARMS; SYSTEM STABILITY;

CARTESIAN ROBOTS; SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM (SCARA);

INDUSTRIAL ROBOTS;

EID: 0032099445     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/3516.686682     Document Type: Article

References (12)

1. Z. H. Luo, N. Kitamura, and B. Z. Guo, "Shear force feedback control of flexible robot arms," IEEE Trans. Robot. Automat., vol. 11, pp. 760-765, Oct. 1995.
2. V. A. Spector and H. Flashner, "Modeling and design implications of noncollocated control in flexible systems," ASME J. Dyn. Syst., Meas., Contr., vol. 112, no. 2, pp. 186-193, June 1990.
3. Z. H. Luo, "Direct strain feedback control of flexible robot arms: New theoretical and experimental results," IEEE Trans. Automat. Contr., vol. 38, pp. 1610-1622, Nov. 1993.
4. J. J. Shifman, "Lyapunov functions and the control of the Euler-Bernoulli beam," Int. J. Control, vol. 57, no. 4, pp. 971-990, 1993.
5. B. Siciliano and W. J. Book. "A singular perturbation approach to control of lightweight flexible manipulators," Int. J. Robot. Res., vol. 7, no. 4, pp. 79-90, 1988.
6. B. Yuan, W. J. Book, and B. Siciliano, "Direct adaptive control of a one-link flexible arm with tracking," J. Robot. Syst., vol. 6, no. 6, pp. 663-680, 1989.
7. S. Q. Zhu, S. Commuri, and F. L. Lewis, "A singular perturbation approach to stabilization of the internal dynamics of multilink flexible robots," in Proc. American Control Conf., 1994, vol. 2, pp. 1386-1390.
8. R. H. Cannon, Jr. and E. Schmitz, "Initial experiments on the end-point control of a flexible one-link robot," Int. J. Robot. Res., vol. 3, no. 3, pp. 62-75, 1984.
9. Y. Sakawa, F. Matsuno, and S. Fukushima, "Modeling and feedback control of a flexible arm," J. Robot. Syst., vol. 2, no. 4, pp. 453-472, 1985.
10. H. K. Khalil, Nonlinear Systems. New York: Macmillan, 1992.
11. E. Kreyszig, Advanced Engineering Mathematics, 7th ed. New York: Wiley, 1993, ch. 11.
12. L. Meirovitch, Elements of Vibration Analysis. New York: McGraw-Hill, 1975, ch. 5, p. 218.