Input-state feedback linearization control of a single-link flexible robot arm moving under gravity and joint friction

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• 作者：Juan Carlos Cambera^a ; ^{JuanCarlos.Cambera@alu.uclm.es}Author Vitae ; Vicente Feliu-Batlle^b ; ^{Vicente.Feliu@uclm.es}Author Vitae
• 关键词：Flexible ; Robot control ; Vibration control ; Robot manipulators
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：88
• 期：Complete
• 页码：24-36
• 全文大小：1076 K
• 卷排序：88

文摘

A nested loop control combined with input-state feedback linearization robust to motor friction. Efficient control of a single link flexible arm under gravity. Control system designed for a single vibrational mode. The control system is still accurate when the link mass is significant respect the payload. The control system is robust to payload changes.