Closed-loop stability analysis of a flexible robot arm using feedback control

Abstract

Presents a strategy for stability analysis of a feedback controlled flexible arm without truncation. The unconstrained modal analysis method is used to derive a set of infinite dimensional ordinary differential equations (ODEs) with rigidity-flexibility decoupled. Based on this set of ODEs, matrix factorization and its relevant techniques are employed to analyze the closed-loop stability of the system under feedback control. Several common feedback controlled systems were studied. Validation through comparative and experimental studies is presented.