Abstract
Abstract In this paper, stability analysis and robust control of a force-controlled arm having a symmetric rigid tip body, of which the mass center lies on the central axis of the arm, are discussed. We consider link flexibility as uncertainty and derive dynamic equations of the force-controlled arm. As the obtained boundary condition of the vibraton equation of the arm is nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. On the basis of a finite-dimensional modal model of distributed-parameter systems, stability of the force feedback is analyzed by using the root locus technique, and an optimal controller with low-pass property is constructed. Simulations have been carried out.
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