DocumentCode
3091187
Title
Experiments on the position control of a one-link flexible robot arm
Author
Wang, W.J. ; Lu, S. ; Chang, T.S. ; Hsu, C.F.
Author_Institution
National Taiwan University, Taipei, Taiwan, Republic of China
Volume
26
fYear
1987
fDate
9-11 Dec. 1987
Firstpage
2191
Lastpage
2195
Abstract
Experiments were carried out to investigate the positioning capability of a flexible arm. A shaft encoder was used as the sensor of the rigid-body motion, while a laser beam was used to measure the slope of the arm deflection. The control torque based on the output feedback control law was then applied to the motor through the driver circuits to control the arm. The experimental results show that the performance of the arm is satisfactory.
Keywords
Actuators; Frequency; Laser beams; Laser feedback; Output feedback; Photodetectors; Position control; Robot sensing systems; Shafts; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location
Los Angeles, California, USA
Type
conf
DOI
10.1109/CDC.1987.272479
Filename
4049695
Link To Document