Causal inverse dynamics of a flexible hub-arm system through Liapunov's second method

Atef Ata, Salwa Elkhoga, Mohamed Shalaby, Shihab S Asfour

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

The main objective of this work is to study the performance of a flexible single hub-arm system. The equations of motion are derived using the extended Hamilton principle. The Liapunov functional is used as a condition for the stability analysis. The Liapunov functional is considered as the sum of the internal energy of the flexible beam. The required drive torque was obtained directly through the solution of the inverse dynamic problem. Although the flexible link is nonminimum phase in nature, the use of Liapunov and the PD controller guarantee the causality for the stable case. The effects of tip mass as well as its inertia in the case of stable and asymptotic stable systems were investigated to ensure the validity of this procedure.

Original languageEnglish
Pages (from-to)381-389
Number of pages9
JournalRobotica
Volume14
Issue number4
StatePublished - Jul 1 1996

Fingerprint

Inverse Dynamics
Liapunov Functional
Equations of motion
Torque
Controllers
Flexible Beam
Non-minimum Phase
Hamilton's Principle
Dynamic Problem
Causality
Inertia
Stability Analysis
Equations of Motion
Inverse Problem
Internal
Controller
Energy

Keywords

  • Flexible robot
  • Inverse dynamics
  • Liapunov
  • Stability

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Causal inverse dynamics of a flexible hub-arm system through Liapunov's second method. / Ata, Atef; Elkhoga, Salwa; Shalaby, Mohamed; Asfour, Shihab S.

In: Robotica, Vol. 14, No. 4, 01.07.1996, p. 381-389.

Research output: Contribution to journalArticle

Ata, A, Elkhoga, S, Shalaby, M & Asfour, SS 1996, 'Causal inverse dynamics of a flexible hub-arm system through Liapunov's second method', Robotica, vol. 14, no. 4, pp. 381-389.
Ata, Atef ; Elkhoga, Salwa ; Shalaby, Mohamed ; Asfour, Shihab S. / Causal inverse dynamics of a flexible hub-arm system through Liapunov's second method. In: Robotica. 1996 ; Vol. 14, No. 4. pp. 381-389.
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