Hamiltonian description and dynamic control of flexible robots

Abstract

Abstract The article is concerned with the problem of modeling and control of flexible robots. This problem is faced by using the Hamiltonian approach and the assumed modes method to obtain an approximate finite dimensional model of the robot dynamics. The pseudo‐linearization method is then applied to design a nonlinear control law that is effective in the neighborhood of the operating points. The article ends with an application to a single‐link robot arm.