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A Lyapunov-Based Piezoelectric Controller for Flexible Cartesian Robot Manipulators

Dadfarnia, Mohsen, Auteur ; Jalili, Nader, Auteur ; Xian, Bin ; Dawson, Darren, M. |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 126 N° 2, Juin 2004)

A Lyapunov-based control strategy is proposed for the regulation of a Cartesian robot manipulator, which is modeled as a flexible cantilever beam with a translational base support. The beam (arm) cross-sectional area is assumed to be uniform and[...]

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