The paper studies the output tracking control problem of a class of hyper-redundant robotic arms described by hyperbolic equations. The stability analysis and the resulting controllers are obtained by using the concept of boundary geometric control and an output tracking technique. A conventional PD control is proposed and analysed. Then, for a dynamic model with uncertain components, a robust algorithm is discussed. The output stability is analysed. Numerical simulations are also provided to verify the effectiveness of the approach presented.
Hyper-redundant arm, gravitational compensation, controller.
Mihaela FLORESCU, Van Dong Hai NGUYEN, Mircea IVANESCU, "Output Track Controller with Gravitational Compensation for a Class of Hyper-Redundant Robot Arms", Studies in Informatics and Control, ISSN 1220-1766, vol. 24(3), pp. 309-316, 2015. https://doi.org/10.24846/v24i3y201508
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