Theoretical and experimental study of dynamics and control of a two-link flexible robot manipulator of revolute joints

Author

Jen, Chih-wu ; Nicosia, Salvatore ; Valigi, Paolo

Author_Institution

Dept. of Comput. Sci. Syst. & Production, Rome Univ., Italy

fYear

1996

fDate

31 Mar-2 Apr 1996

Firstpage

237

Lastpage

241

Abstract

The linearized dynamic model of a prototype robot arm of two flexible links is constructed using Ritz´s approach and is validated by experimental frequency response functions. Some active control schemes are then designed to manipulate this robot arm on a small manoeuvre base, using pole placement technique, for the purpose of path tracking as well as vibration suppression, and are tested by computer simulations

Keywords

digital simulation; frequency response; manipulator dynamics; pole assignment; position control; tracking; vibration control; Ritz´s approach; active control schemes; experimental frequency response functions; linearized dynamic model; path tracking; pole placement; revolute joints; two-link flexible robot manipulator; vibration suppression; Computer science; Computer simulation; DC motors; Frequency response; Manipulator dynamics; Production systems; Robot sensing systems; State feedback; Strain measurement; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on

Conference_Location

Baton Rouge, LA

ISSN

0094-2898

Print_ISBN

0-8186-7352-4

Type

conf

DOI

10.1109/SSST.1996.493506

Filename

493506