Referenced Items are not available for this document.
Presents a class of asymptotically stable end-point regulators for a flexible SCARA/Cartesian robot. Firstly, the closed-loop stability is proven for the original distributed parameter system; then, through explicitly solving the partial differential equations of the system, asymptotic stability is obtained for the undamped truncated system, in which the distributed flexibility of the robot link is represented by an arbitrary finite number of flexible modes. The controllers possess some attractive advantages for practical applications. Computer simulations are provided to illustrate the effectiveness of the approach
Published in:
Mechatronics, IEEE/ASME Transactions on
(Volume:3
,
Issue:
2
)
Date of Publication: Jun 1998
- Page(s):
- 138 - 144
- ISSN :
- 1083-4435
- INSPEC Accession Number:
- 5947848
- Digital Object Identifier :
- 10.1109/3516.686682
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Jun 1998
- Sponsored by :
- ASME Dynamic Systems and Control Division
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