Abstract
We present in this paper an approach to the control of an uncertain nonlinear flexible robotic system, A robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. A torquer control law is derived for controlling1 the joint angles. For damping of the elastic vibration, a force control law using modal velocity feedback is synthesized. Simulation results are presented to show that combination of the torque and force control law accomplishes reference joint angle trajectory tracking and elastic mode stabilization in spite of the uncertainty in the system.
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© 1988 Springer-Verlag New York Inc.
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Singh, S.N. (1988). Controller Design and Dynamic Simulation of Elastic Robot Arm Mounted in Spacecraft in Presence of Uncertainty. In: Radharamanan, R. (eds) Robotics and Factories of the Future ’87. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-73890-6_41
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DOI: https://doi.org/10.1007/978-3-642-73890-6_41
Publisher Name: Springer, Berlin, Heidelberg
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