Stability Analysis of Cooperation System of Two Robot Arms

作     者：CHEN Yunlan1,2,XU Genqi1 1.Department of Mathematics,Tianjin University,Tianjin 300072,P.R.China2.Department of Automation,Tianjin University,Tianjin 300072,P.R.China 

会议名称：《第二十九届中国控制会议》

会议日期：2010年

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the Natural Science Foundation of China grant NSFC-60874034 

关 键 词：Robot Arms cooperative System Euler-Bernoulli Beam Non-collocated Control Riesz Basis Exponential Stabil-ity 

摘      要：In this paper we study the stability problem of a hybrid system composed of two robots,where the appropriate cooperation of robots are expected to work *** performance of system depends directly upon one main factor:the coordination movement of the *** stability analysis of the system results in a model of uniform Euler-Bernoulli beams with linear and non-collocated boundary feedback *** prove that the system is exponentially stable with suitable choice of parameters of the *** particular,we show that the system satisfies the spectrum determine growth condition.