Passivity-based boundary control of a flexible-link gantry robot

被引：1
|
作者：
Jang, JT [1 ]
Yuan, K
机构：
[1] Tung Nan Inst Technol, Dept Automat Engn, Taipei 222, Taiwan
[2] Natl Taiwan Univ, Dept Mech Engn, Taipei 106, Taiwan
来源：
JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS | 2005年 / 28卷 / 06期
关键词：
distributed parameter system; flexible arm; gantry robot; boundary control;
D O I：
10.1080/02533839.2005.9671074
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a new method is proposed for the performance evaluation of a controlled flexible-link gantry robot. The method relies on two mathematical tools: (i) the infinite product representation of transcendental functions, and (ii) the stability properties of a class of irrational passive transfer functions. Exact solutions of the infinite-dimensional, closed-loop, flexible-link gantry system are obtained and compared with the experimental results available in the literature.
引用
收藏
页码：993 / 997
页数：5
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