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Nonlinear torque control of a single-link flexible robot
Luo, ZH; Feng, DX
1999
Source PublicationJOURNAL OF ROBOTIC SYSTEMS
ISSN0741-2223
Volume16Issue:1Pages:25-35
AbstractIn 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.
Language英语
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000077787400003
PublisherJOHN WILEY & SONS INC
Citation statistics
Cited Times:30[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/14136
Collection中国科学院数学与系统科学研究院
Affiliation1.Nagaoka Univ Technol, Dept Mech Engn, Niigata 9402188, Japan
2.Chinese Acad Sci, Inst Syst Sci, Beijing 100080, Peoples R China
Recommended Citation
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.
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