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- W1560873648 abstract "Our group has proposed a tip position control method [13] which can be applied to both a flexible link robot arm and a rigid link robot arm. It can be regarded as a natural extension of the computed torque method for a rigid link robot arm. It is a nonlinear state feedback control based on an inverse dynamic model (states consist of link angles, deflection angles and those velocities). Also, it is quite different from a PD control and a sliding mode control. However, the discussion of stability and realization of the control system was inadequate in [13]. In this paper, we propose a robust design method which achieves the ultimate boundedness of control error system. Its effectiveness is illustrated by a brief analysis and numerical simulation results." @default.
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- W1560873648 date "2012-10-15" @default.
- W1560873648 modified "2023-09-24" @default.
- W1560873648 title "A position control of 2 DOF flexible link robot arms based on computed torque method" @default.
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