Title :
Passivity of flexible beam transfer functions with modified outputs
Author :
Pota, Hemanshu Roy ; Vidyasagar, M.
Author_Institution :
Dept. of Electr. Eng., Australian Def. Forces Acad., New South Wales Univ., Campbell, ACT, Australia
Abstract :
A modified output consisting of the reflected tip position is analyzed. It is shown that, for an arbitrary beam, the transfer function from the base torque to the derivative of the modified output is passive when the hub inertia is very large compared to the beam inertia. In addition, it is shown that for a uniform beam, the same result also holds when the hub inertia is very small compared to the beam inertia. With the modified output, flexible beams can be easily controlled using quite simple control strategies such as PD control
Keywords :
position control; robots; transfer functions; beam inertia; flexible beam; flexible manipulators; hub inertia; passivity; reflected tip position control; transfer functions; Australia; Control systems; Damping; Educational institutions; Feedback; Force control; PD control; Torque control; Transfer functions; Velocity control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132061
