Summary
A reasonable modeling and a suitable design of a control system for the translational motion of an elastic robot arm with a prismatic joint is a still open problem. In this paper the dynamic behaviour of such an elastic beam is described with respect to control requirements. A complex control system is obtained represented approximately by a set of ordinary linear time-variant differential equations of variable order. Certain approaches of designing a feedback control are discussed.
On leave of the Technical University of Istanbul, Turkey, by a fellowship of the Alexander von Humboldt-Foundation.
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© 1989 Springer-Verlag Berlin Heidelberg
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Gürgöze, M., Müller, P.C. (1989). Modeling and Control of Elastic Robot Arm with Prismatic Joint. In: Schweitzer, G., Mansour, M. (eds) Dynamics of Controlled Mechanical Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83581-0_18
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DOI: https://doi.org/10.1007/978-3-642-83581-0_18
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