Nonlinear torque control of a single-link flexible robot

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	Nonlinear torque control of a single-link flexible robot
	Luo, ZH ; Feng, DX
	1999
发表期刊	JOURNAL OF ROBOTIC SYSTEMS
ISSN	0741-2223
卷号	16 期号:1 页码:25-35
摘要	In this research, a nonlinear torque control law with a free function is applied to the simultaneous motion and vibration control of a single-link flexible robot. A rigorous proof of the asymptotic stability of the closed-loop system is provided and experiments are conducted by taking the free function in the feedback law as the output of one of the following vibration sensors: strain, shear force, reaction force, tip acceleration, and acceleration at some intermediate point. The experimental results demonstrate that the use of strain, shear force, and reaction force information in the control law can substantially suppress vibrations in the arm, while the effect of incorporating the acceleration information can be better or worse, depending on where the accelerometer is placed. (C) 1999 John Wiley & Sons, Inc.
语种	英语
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:000077787400003
出版者	JOHN WILEY & SONS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/14136
专题	中国科学院数学与系统科学研究院
通讯作者	Luo, ZH
作者单位	1.Nagaoka Univ Technol, Dept Mech Engn, Niigata 9402188, Japan 2.Chinese Acad Sci, Inst Syst Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Luo, ZH,Feng, DX. Nonlinear torque control of a single-link flexible robot[J]. JOURNAL OF ROBOTIC SYSTEMS,1999,16(1):25-35.
APA	Luo, ZH,&Feng, DX.(1999).Nonlinear torque control of a single-link flexible robot.JOURNAL OF ROBOTIC SYSTEMS,16(1),25-35.
MLA	Luo, ZH,et al."Nonlinear torque control of a single-link flexible robot".JOURNAL OF ROBOTIC SYSTEMS 16.1(1999):25-35.