Robust control of coupled bending and torsional vibrations and contact force of a constrained flexible arm

Author

Matsuno, Fumitoshi ; Kanzawa, Takao

Author_Institution

Fac. of Eng., Kobe Univ., Japan

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2444

Abstract

In this paper, robust control of bending and torsional vibrations and contact force of a one-link flexible arm is discussed. The flexible arm carries a rigid tip body, of which the mass center lies on the center axis of the arm. We derive dynamic equations of the joint angle, the vibrations of the flexible link, and the contact force by using Hamilton´s principle. On the basis of a finite-dimensional modal model of a distributed-parameter system, an optimal controller with low-pass property and a robust H_∞ controller are constructed. A set of simulations has been carried out

Keywords

H^∞ control; control system synthesis; distributed parameter systems; flexible structures; force control; manipulator dynamics; multidimensional systems; robust control; vibration control; H_∞ controller; Hamilton´s principle; bending; constrained flexible arm; contact force; distributed-parameter system; dynamic equations; finite-dimensional modal model; low-pass property; one-link flexible arm; optimal controller; robust control; torsional vibrations; Boundary conditions; Control system synthesis; Equations; Force control; Manipulators; Optimal control; Orbital robotics; Robust control; Space stations; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506530

Filename

506530