Application of singular perturbation theory in modeling and control of flexible robot arm
نویسندگان
چکیده
منابع مشابه
Fuzzy logic control for flexible link robot arm by singular perturbation approach
This work addresses flexible-link robot arm control using fuzzy logic, and a singular perturbation approach. A singular perturbation approach is introduced to derive the slow and fast subsystems and thus reduce the effect of spillover. Consequently, a two-time scale fuzzy logic controller will be applied for such systems. The fast-subsystem controller damps out the vibration of the flexible str...
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T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...
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15 صفحه اولControl of a Flexible Robot Arm
We model a exible robot arm supported at a prismatic joint so the length of (the relevant part of) the rod is variable | indeed, this variation in the length of the arm is taken to be the control action. The principal results are: exact controllability for the consideration of purely longitudinal vibrations (wave equation) and the existence of optimal controls in the more practically interestin...
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ژورنال
عنوان ژورنال: International Journal of Advanced Technology and Engineering Exploration
سال: 2016
ISSN: 2394-5443,2394-7454
DOI: 10.19101/ijatee.2016.324002