Abstract
In recent years, there have been many studies reported concerning control of robots with flexible arms or flexible joints. However, control problems for robots with both flexible arms and flexible joints are rarely addressed. In this paper, we discuss how to model and control one-link robots with a flexible arm and a flexible joint. We show that(1) the flexibility in joints can decrease vibration frequency of flexible arm;(2) a simple PD feedback of motor angle can control satisfatorily the position of robot arm ;(3) PD + strain rate feedback can yield good responses of the arm's positioning and vibration suppression.Simulations are conducted to demonstrate these theoretical results.
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 callMore From: Transactions of the Institute of Systems, Control and Information Engineers
Disclaimer: 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.
