DocumentCode
961972
Title
Controlling the impact response of a one-link flexible robotic arm
Author
Chapnik, B.V. ; Heppler, G.R. ; Aplevich, J.D.
Author_Institution
Vibron Ltd., Mississauga, Ont., Canada
Volume
9
Issue
3
fYear
1993
fDate
6/1/1993 12:00:00 AM
Firstpage
346
Lastpage
351
Abstract
An open-loop control system is designed using frequency-domain techniques to compute a desired hub torque profile. The motion of the arm after tip impact, including hub actuation, is simulated. Simulation results are compared to experimental data. It is shown that the controller damps vibration caused by the impact and allows the steady-state tip deflection to be predetermined
Keywords
control system synthesis; frequency-domain analysis; manipulators; vibration control; frequency-domain; hub actuation; hub torque profile; impact response control; manipulators; one-link flexible robotic arm; open-loop control system; tip deflection; tip impact; vibration damping; Computational modeling; Control systems; Damping; Design engineering; Finite element methods; Open loop systems; Robots; Steady-state; Structural beams; Torque control;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.240206
Filename
240206
Link To Document