Accession Number : ADA189124

Title :   Free Boundary Problems Arising in the Control of a Flexible Robot Arm,

Corporate Author : MARYLAND UNIV BALTIMORE COUNTY CATONSVILLE DEPT OF MATHEMATICS

Personal Author(s) : Seidman, Thomas I

PDF Url : ADA189124

Report Date : 24 Sep 1987

Pagination or Media Count : 9

Abstract : Modeling of a flexible robot arm mounted at a prismatic joint leads to a moving boundary problem. In a control-theoretic context with joint motion as control, these become free boundary problems. Some problems are discussed for transverse vibration (the beam equation) but the principal result is an exact controllability theorem for longitudinal vibration (the wave equation). Keywords: Free boundary, Robot arm, Prismatic joint, Beam equation, Feedback, Wave equation, Exact controllability.

Descriptors :   *CONTROL, *FLEXIBLE STRUCTURES, *ROBOTS, BOUNDARIES, BOUNDARY VALUE PROBLEMS, MOTION, PRISMATIC BODIES, THEOREMS, TRANSVERSE, VIBRATION, WAVE EQUATIONS, HAMILTONIAN FUNCTIONS

Subject Categories : Biology

Distribution Statement : APPROVED FOR PUBLIC RELEASE