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Optimal Control of a Flexible Robot Arm

Published

Author(s)

Jonathan W. Lee, B Wang

Abstract

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.
Citation
Computers and Structures
Volume
29, No. 3

Keywords

Control

Citation

Lee, J. and Wang, B. (1988), Optimal Control of a Flexible Robot Arm, Computers and Structures, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820217 (Accessed February 21, 2024)
Created May 31, 1988, Updated October 12, 2021