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

页码：993 / 997

页数：5

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