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30 April 1992 Linear robust control of very flexible one-link manipulator arm
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Abstract
In this sequel to work previously completed by Korolov and Chen, we design the end-point position control of a one-link flexible robot arm subjected to a wise spectrum of operational conditions. The linear control scheme designed here treats the possible variations of natural frequencies as uncertainties and is robust if the uncertainties stay inside specified bounds. The results of the simulation of this scheme are compared with simulations of the non-linear controller for the same arm.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Victor V. Korolov "Linear robust control of very flexible one-link manipulator arm", Proc. SPIE 1611, Sensor Fusion IV: Control Paradigms and Data Structures, (30 April 1992); https://doi.org/10.1117/12.57946
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