Collision Detection and Control of a Single-link Flexible Arm
نویسندگان
چکیده
منابع مشابه
QFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
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A simple collision detection method for a flexible link manipulator is proposed. The method only requires two strain measurements to determine the position of a collision with the flexible link. Equations which relate the force and position of contact to the strain at two points in the flexible link are derived assuming the link is at static equilibrium. Since the flexible robot is actually in ...
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Robotica / Volume 31 / Issue 05 / August 2013, pp 825 835 DOI: 10.1017/S026357471300012X, Published online: 13 February 2013 Link to this article: http://journals.cambridge.org/abstract_S026357471300012X How to cite this article: Liang-Yih Liu and Hsiung-Cheng Lin (2013). Tip-contact force control of a single-link exible arm using feedback and parallel compensation approach. Robotica, 31, pp 8...
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The design of flexible manipulator is complicated due to inherently infinite dimension in nature. The sequential challenge is the problem such a non-minimum phase that is the cause of system instability. In this paper, a constrained single-link flexible arm is fully investigated using a linear distributed parameter model. In order to overcome the inherent limitations, a new input induced by the...
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Impact induced transient vibrations of a two-link flexible-arm were attenuated by varying the stiffness of an elbow actuator. Case studies were conducted to determine the effectiveness of the control method as the payload and the elbow angle changed. The suggested method is effective and simple to implement with minimal hardware requirements.
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ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 2006
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.19.250