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TECHNICAL BRIEFS

An Infinite Dimensional Distributed Base Controller for Regulation of Flexible Robot Arms

[+] Author and Article Information
Nader Jalili

Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Clemson University, Clemson, SC 29634-0921 e-mail: jalili@clemson.edu.

J. Dyn. Sys., Meas., Control 123(4), 712-719 (Mar 27, 2000) (8 pages) doi:10.1115/1.1408608 History: Received March 27, 2000
Copyright © 2001 by ASME
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References

Figures

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Flexible arm in the horizontal plane with its kinematics of deformation
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Analytical system responses to controller with inclusion of arm flexibility, i.e., μ=−0.66; (a) arm angular position, (b) arm tip deflection, (c) control torque, and (d) sliding variable s
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Analytical system responses to controller without inclusion of arm flexibility, i.e., μ=0; (a) arm angular position, (b) arm tip deflection, (c) control torque, and (d) sliding variable s
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The experimental device and setup configuration
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Experimental system responses to controller with inclusion of arm flexibility, i.e., μ=−0.66; (a) arm angular position, (b) arm tip deflection, and (c) control voltage applied to DC servomotor
Grahic Jump Location
Experimental system responses to controller without inclusion of arm flexibility, i.e., μ=0; (a) arm angular position, (b) arm tip deflection, and (c) control voltage applied to DC servomotor

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