By Topic

Experiments on the position control of a one-link flexible robot arm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
W. -J. Wang ; Nat. Taiwan Univ., Taipei, Taiwan ; S. -S. Lu ; C. -F. Hsu

Experiments were carried out to investigate the positioning capability of a flexible arm. A shaft encoder was used as the sensor of the hub angle, while a laser beam was used to measure the slope of the deflection of the flexible robot arm. The control torque based on the output feedback control law was then applied to the motor through the driver circuits to control the arm. The experimental results show that the performance of the arm is satisfactory. Also, it is shown that the position controller is robust to parameter variations

Published in:

IEEE Transactions on Robotics and Automation  (Volume:5 ,  Issue: 3 )