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Output regulation of robot manipulators with a constantly revolving arm

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2 Author(s)
Shang-Teh Wu ; Dept. of Mech. Eng., Nat. Yunlin Univ. of Sci. & Technol., Taiwan ; Yi-Chih Chuang

This paper presents analysis and experiment results on regulation of a two-link robot with a constantly revolving arm. The rotating member imposes a harmonic excitation on the system. A control algorithm inspired by passive dynamic vibration absorber is devised to turn the base link to a target position asymptotically. The displacement of the base link is the only state variable required in the feedback loop. Asymptotic stability is proved using a tool based on the center manifold theory. Real-time experiments are conducted to verify the performance of the proposed method.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 6 )