Experimental results for the end-effector control of a single flexible robotic arm

被引：47

作者：

Aoustin, Y. ^{[1
]}

Chevallereau, C. ^{[1
]}

Glumineau, A. ^{[1
]}

Moog, C.H. ^{[1
]}

机构：

[1] Universite de Nantes, Nantes, France

来源：

IEEE Transactions on Control Systems Technology | 1994年 / 2卷 / 04期

关键词：

Adaptive control systems - Control equipment - Control theory - End effectors - Finite element method - Flexible structures - Manipulators - Mathematical models - Nonlinear control systems - Online systems - Perturbation techniques - Robotics;

D O I：

10.1109/87.338658

中图分类号：

学科分类号：

摘要：

Various control schemes for a single flexible robot arm are considered in this paper. They require a limited amount of on-line computations. All trials are performed on the physical process and embody a conclusive, although partial, comparison for this kind of single axis robot. They are representative of some major applied research directions which captured the attention of many researchers throughout the 1980's. Some general conclusions are derived.

引用

页码：371 / 381