Research on control algorithm of flexible manipulator based on PD-Type distributed parameter boundary control
文献类型：会议论文
| 作者 | Su, Yunhao2; Liang, Yanbing1 |
| 出版日期 | 2020-06 |
| 会议日期 | 2020-06-26 |
| 会议地点 | Tianjin, China |
| 关键词 | flexible manipulator distributed parameter boundary control exponential convergence method |
| DOI | 10.1109/AIEA51086.2020.00114 |
| 页码 | 508-511 |
| 英文摘要 | In this paper, the Hamilton method is used to establish a distributed parameter model for a single-link flexible robotic arm based on the form of partial differential equations. The distributed parameter system is used to control the model. The boundary control method is used to add a boundary control input to the end boundary of the manipulator. The PD boundary controller is designed, and the distributed parameter boundary control based on the exponential convergence method is performed on the end boundary of the manipulator to adjust the vibration of the robotic arm. The Lyapunov function is designed to prove the stability of the system through calculation. © 2020 IEEE. |
| 产权排序 | 1 |
| 会议录 | Proceedings - International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2020
 |
| 会议录出版者 | Institute of Electrical and Electronics Engineers Inc. |
| 语种 | 英语 |
| ISBN号 | 9781728182889 |
| 源URL | [http://ir.opt.ac.cn/handle/181661/93811]  |
| 专题 | 西安光学精密机械研究所_光电测量技术实验室 |
| 作者单位 | 1.Xi'An Institute of Optics and Precision Mechanics of CAS, Xi'an, China 2.Xi'An Institute of Optics and Precision Mechanics of CAS, University of Chinese Academy of Sciences, Xi'an, China; |
| 推荐引用方式 GB/T 7714 | Su, Yunhao,Liang, Yanbing. Research on control algorithm of flexible manipulator based on PD-Type distributed parameter boundary control[C]. 见:. Tianjin, China. 2020-06-26. |
入库方式： OAI收割
来源：西安光学精密机械研究所
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