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Optimal Control of a Flexible Robot Arm



Jonathan W. Lee, B Wang


The work is a computer simulation of the control of a flexible robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. This arm has two degrees of freedom in rotation and one in translation so that the workspace is three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations of the plant and the measurements are nonlinear. The process of control is divided into two stages; coarse control and fine control. Based on the optimal control theory, a linear observer is constructed for fine control. The numerical results are presented here.
Computers and Structures
29, No. 3




Lee, J. and Wang, B. (1988), Optimal Control of a Flexible Robot Arm, Computers and Structures, [online], (Accessed July 24, 2024)


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Created May 31, 1988, Updated October 12, 2021