Title :
Force control of a flexible arm
Author :
Matsuno, Fumitoshi ; Wakashiro, Kuniko ; Ikeda, Masao
Author_Institution :
Dept. of Comput. & Syst. Eng., Kobe Univ., Japan
Abstract :
In this paper, robust force control of a flexible arm is considered. We derive the dynamic equations of the joint angle and vibration of the flexible arm and its contact force. On the basis of a finite-dimensional model of distributed-parameter systems, an LQ controller, an optimal controller with low-pass property and a robust N ∞ controller are constructed. A set of simulations has been carried out and responses for three controllers are compared
Keywords :
distributed parameter systems; flexible structures; force control; manipulator dynamics; multidimensional systems; optimal control; robust control; LQ controller; contact force; distributed-parameter systems; dynamic equations; finite-dimensional model; flexible arm; joint angle; optimal controller; robust force control; vibration; Boundary conditions; Equations; Force control; Manipulator dynamics; Modeling; Optimal control; Robust control; Shafts; Space stations; Vibration control;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350972
