A feedback control and a simulation of a torsional elastic robot arm

摘要

A feedback control is designed for a torsional elastic robot arm to be exponentially stable and to arrive at any designated position. An eigenvalue problem is discussed, and a finite-dimensional approximation theorem is proposed and proved. Based on the numerical analysis and the approximation theorem we can simulate the system and show that the bending vibration, the torsional vibration, the rigid turning angle, and the bending moment of the robot arm can be controlled in a short period of time.