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Abstract
This article proposes a resonance suppression method for a flexible load servo drive system based on a flexible manipulator's pose transformation. We establish a flexible load servo drive system for the robotic arm based on the continuum vibration theory and the transfer function estimation method. The controller consists of two parts: compensation control and dynamic feedback. The transfer function of the active feedback part is strictly positive and real. At the end of the thesis, the asymptotic stability of the closed-loop system in the neighborhood of the desired position is proved through the linear operator semigroup theory and the LaSalle invariant set principle.
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Details
1 School of mechanical and Automotive Engineering, Anhui Wenda School of Information Engineering, Hefei, 231201, China
2 College of mechanical and Automotive Engineering, Anhui Wenda University of Information Engineering, Hefei, , China
3 College of Engineering, Applied Science University, Bahrain
4 College of Engineering and Technology, American University of the Middle East, Egaila, Al Ahmadi, Kuwait