Title :
Experimental study on robust force control of a flexible arm with a symmetric rigid tip body
Author :
Matsuno, Fumitoshi ; Umeyama, Satoshi ; Kasai, Shozaburo
Author_Institution :
Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Yokohama, Japan
Abstract :
In this paper, an experimental study on robust control of bending and torsional vibrations and contact force of a one-link flexible arm is discussed. The flexible arm carries a symmetric 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. On the basis of a finite-dimensional modal model of a distributed-parameter system, robust controllers are constructed. Some experimental results are shown
Keywords :
flexible structures; force control; manipulator dynamics; multidimensional systems; robust control; bending; contact force; distributed-parameter system; dynamic equations; finite-dimensional modal model; one-link flexible arm; robust controllers; robust force control; symmetric rigid tip body; torsional vibrations; Computational intelligence; Educational institutions; Equations; Force control; Manipulators; Orbital robotics; Robust control; Rotors; Systems engineering and theory; Vibration control;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606765
