Nonlinear Feedback Control for Flexible Robot Arms
Modeling and control of robot arms with non-negligible elastical deformations have invited researches in the recent years, due to the demands on robot arms which are of lighter weight, move faster and consume less energy. In this paper, the authors present a nonlinear, distributed-parameter dynamic model for a two-link robot arm, derived using Hamilton’s principle. The dynamic model is then transformed into state-space expression, which gives an infinite-dimensional dynamic system. Position of the tip of the robot arm is chosen as the output of the dynamic system. A nonlinear feedback law is proposed to achieve input-output linearization and decoupling, which is an extension of input-output linearization and decoupling of finite-dimensional dynamic systems.
KeywordsNonlinear Feedback World Coordinate System Zero Dynamic Nonlinear Feedback Control Homogeneous Transformation Matrice
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