Free Boundary Problems Arising in the Control of a Flexible Robot Arm,

Abstract

Modeling of a flexible robot arm mounted at a prismatic joint leads to a moving boundary problem. In a control-theoretic context with joint motion as control, these become free boundary problems. Some problems are discussed for transverse vibration (the beam equation) but the principal result is an exact controllability theorem for longitudinal vibration (the wave equation). Keywords: Free boundary, Robot arm, Prismatic joint, Beam equation, Feedback, Wave equation, Exact controllability.

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Document Details

Document Type
Technical Report
Publication Date
Sep 24, 1987
Accession Number
ADA189124

Entities

People

  • Thomas I. Seidman

Organizations

  • University of Maryland, Baltimore County

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Air Force
  • Boundaries
  • Classification
  • Coordinate Systems
  • Differential Equations
  • Dynamics
  • Equations
  • Feedback
  • Formulas (Mathematics)
  • Geometry
  • Materials
  • Partial Differential Equations
  • Security
  • Vibration
  • Wave Equations
  • Waves

Fields of Study

  • Mathematics

Readers

  • Fluid Dynamics.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy