1985年
Modeling and feedback control of a flexible arm
Journal of Robotic Systems
- ,
- ,
- 巻
- 2
- 号
- 4
- 開始ページ
- 453
- 終了ページ
- 472
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1002/rob.4620020409
When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested as soon as possible at the end of rotation. In this paper, we first derive a partial differential equation and a set of boundary conditions governing the vibration. Then, a feedback control system which incorporates a dynamic compensator is designed using sensor outputs. A set of experiments has been constructed to demonstrate control strategies for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. Several satisfactory experimental results are shown. Copyright © 1985 Wiley Periodicals, Inc., A Wiley Company
- ID情報
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- DOI : 10.1002/rob.4620020409
- ISSN : 1097-4563
- ISSN : 0741-2223
- SCOPUS ID : 0022230187