A Quantitative Evaluation of the Non-Minimum Phase Phenomenon for a Robot ARM

Author

Colas, Frederic ; Barre, PierreJean ; Dieulot, JeanYves

Author_Institution

ERT CEMODYNE, ENSAM, Lille

Volume

1

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

437

Lastpage

443

Abstract

The non-minimum phase phenomena of a robot´s arm modelled by a set of Euler-Bernoulli beams clamped on a moving cart is demonstrated. Modal analysis is used to derive the exact eigensolutions which verify the described geometric boundary conditions. The equations of motion are determined using the assumed mode method. The influence of geometrical and mechanical parameters such as the thickness of the cross sections of the beams, or the beam length, is discussed using numerical simulations. The overall results, with an application to a real robot, show that one has to take the non-minimum phase problem into consideration when designing a flexible mechanical structure

Keywords

beams (structures); eigenvalues and eigenfunctions; flexible manipulators; modal analysis; motion control; Euler-Bernoulli beams; assumed mode method; beam length; eigensolutions; flexible arms; flexible mechanical structure; geometric boundary condition; geometrical parameters; mechanical parameters; modal analysis; motion equations; moving cart; nonminimum phase phenomenon; numerical simulation; quantitative evaluation; robot arm; Actuators; Equations; Flexible structures; Frequency; Modal analysis; Numerical simulation; Poles and zeros; Robots; Sensor phenomena and characterization; Vibrations; Flexible arms; Modal Analysis; Natural Frequencies; Non-Minimum Phase Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Engineering in Systems Applications, IMACS Multiconference on

Conference_Location

Beijing

Print_ISBN

7-302-13922-9

Electronic_ISBN

7-900718-14-1

Type

conf

DOI

10.1109/CESA.2006.4281692

Filename

4281692