Proceedings of the Korea Institute of Convergence Signal Processing (융합신호처리학회 학술대회논문집)
- 2003.06a
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- Pages.183-187
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- 2003
Nonlinear Observer for One-Link Flexible Robot Arm
단일관절 유연성 로보트 팔에 대한 비선형 관측기
Abstract
When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, we propose nonlinear observer for one-link flexible am. Then based on the error dynamic equation between the plant dynamic equation and the nonlinear observer dynamic equation of the flexible one-link am, Lyapunov candidate function is applied to achieve a stable deterministic nonlinear feedback controller for the regulation of joint angle.
Keywords