In this paper, the Hamilton method is used to establish a distributedparameter model for a single-link flexible robotic arm based on the form of partial differential equations. The distributedparameter system is use...
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ISBN:
(数字)9781728182889
ISBN:
(纸本)9781728182896
In this paper, the Hamilton method is used to establish a distributedparameter model for a single-link flexible robotic arm based on the form of partial differential equations. The distributedparameter system is used to control the model. The boundarycontrol method is used to add a boundarycontrol input to the end boundary of the manipulator. The PD boundarycontroller is designed, and the distributed parameter boundary control based on the exponential convergence method is performed on the end boundary of the manipulator to adjust the vibration of the robotic arm. The Lyapunov function is designed to prove the stability of the system through calculation.
For the multi joint humanoid multi fingered dexterous hand, people always hope that it can grasp objects accurately, stably and compliantly, which is a challenging task. In this paper, by constructing the dynamics mod...
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For the multi joint humanoid multi fingered dexterous hand, people always hope that it can grasp objects accurately, stably and compliantly, which is a challenging task. In this paper, by constructing the dynamics model of the multi joint humanoid multi fingered dexterous hand and using the distributed parameter boundary control strategy, the improved force/position hybrid control (IF/PHC) system is designed, and the stability and convergence of the poposed control strategy are analyzed. Through simulation and experiments, the advantages of the proposed control method in this study over the traditional methods are demonstrated, the proposed method can greatly reduce the position error, and the required driving torque and energy consumption are also reduced to a certain extent, and the common soft and fragile objects are grasped to verify the effectiveness of the method proposed.
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