Output feedback control of a flexible robot arm

1986 ◽  
Author(s):  
W. Wang ◽  
S. Lu ◽  
C. Hsu
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Output Feedback Control ◽  
Robot Arm ◽  
Flexible Robot

Experimental Investigation of Vibration Suppression Control for Flexible Robot Arm

1999 ◽  
Author(s):  
Kengo Inoue ◽  
Nobuyuki Kobayashi
Keyword(s):  
Output Feedback ◽  
Vibration Suppression ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
Flexible Robot ◽  
Modeling Methodology ◽  
Flexible Arm ◽  
Good Agreement

Abstract Experimental evaluation of the vibration suppression control performance about the output feedback sliding mode controller for the two-link flexible robot arm is presented. The reduce-order controller is designed based on a kind of the component mode synthesis modeling methodology, and is also designed by the combination of the suboptimal output feedback control and the sliding mode control algorithm. From the experiments of the two-link flexible robot arm model, the good agreement between the numerical simulation results and the experimental ones are obtained not only the motion of the joints but also the arm vibration. And it is verified that the presented output feedback sliding mode controller suppresses the vibration of the flexible arm quit well for various attitude.

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