A Control Theory for Cartesian Flexible Robot Arms

Abstract

In this article, we first use a fourth order partial differential equation with boundary conditions to model a flexible robot arm on a moving base with a payload at the tip end. Through the state-space formulation, we show that such a system is both controllable and observable in an infinite dimensional Hilbert space. We also show that the system is stabilizable via a feedback control. © 1998 Academic Press.