Control of a Flexible Robot Arm
نویسنده
چکیده
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 interesting case of transverse vibrations (Euler{Bernoulli beam equation). In each case, of course, one is considering a free boundary problem.
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