1リンク·フレキシブル·アームと移動可能な環境による物体の把持·移動制御

抄録

In this paper, we discuss grasping and position control of one link flexible arm with movable environment. By using Hamilton’s principle, we derive dynamic equations of motion of base body of flexible arm, movable environment, vibration of flexible arm and contact force. Using Lyapunov method, we design a simple output feedback controller based on distributed parameter model. Effectiveness of the proposed control strategy is demonstrated by simulations.