Intelligent optimal control of single-link flexible robot arm

  title={Intelligent optimal control of single-link flexible robot arm},
  author={Rong-Jong Wai and Meng-Chang Lee},
  journal={IEEE Transactions on Industrial Electronics},
This paper addresses the design and properties of an intelligent optimal control for a nonlinear flexible robot arm that is driven by a permanent-magnet synchronous servo motor. First, the dynamic model of a flexible robot arm system with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. In this paper, the vibration states of the nonlinear system are assumed to he unmeasurable, i.e., only… CONTINUE READING
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