Abstract
The problem of end-point position control of a structuraily flexible robot arm can generally be embedeed as a nonhomogeneous, time-dependent boundary value problem. we suggestt an organic appproach which relies on an elegant transformation of a boundary value problem with homogeneous, time-varrying boundary conditions B.L.S to modifier problem with homogeneous and distributed input forces. for which modal control technique are applicable. The tranetomator leads to an infinite dimensional state space representation, which added trunation. is known to be completely controllible and conditionality completely observe. The advantage of using this transformation is that it can utilize the modal shapes and frequencies with are obtained for a given arm through finite element methods. We formulated the modified problem for a single link invisible aim and derived the state space model required for an actual controller design
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
