Analysis and control of a two-link and three-joint elastic robot arm

摘要

A robot system composed of two-link arm and three-joint is considered in this paper. An evolution equation corresponding to the robot system formulated by partial differential equations with initial and boundary conditions is established in an appropriate Hilbert space. The spectral properties of the main operator of the evolution equation is first discussed, and then its semigroup generation is presented based on the resulting spectral properties of. Finally, an asymptotical behavior of the robot system under a designed feedback control is shown in terms of semigroup approach.