Asymptotically stable end-point regulation of a flexible SCARA/Cartesian robot

This paper 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 (PDE's) 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.