Force Control Problem and Exponential Stability for One-Link Flexible Manipulator
نویسندگان
چکیده
منابع مشابه
Force Control and Exponential Stability for One-link Flexible Arm
We discuss a force control problem for a constrained one-link flexible arm based on distributed parameter model. In order to solve the force control problem, we propose a simple feedback control law. This control law consists of bending moment at the root of the flexible arm and its derivative, which regulates simultaneously the force and the rotational angle of the motor without the angle and ...
متن کاملQFT 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...
متن کاملAutomation and cybernetics: control of a flexible one-link manipulator
Introduction One of the most important requirements in robotics is accuracy, and in order to solve this problem robot structures are built very stiff and rigid. In addition, frequently most of today’s analyses and controls of industrial robots are based on the assumption that the robot arm is just a collection of rigid bodies, so that, in order to position the end effector to the commanded loca...
متن کاملForce Unloading of a Flexible Manipulator Link
A new approach to the design of light manipulator arms with long links is proposed in this paper. In contrast with traditional schemes, a flexible link is provided with a special force unloading system (FUS) having electrohydraulic drives. As a result, the static and dynamic errors caused by link structural deflections are minimized. Strategy of control the unloading actuators with measuring st...
متن کاملVibration Based Control for Flexible Link Manipulator
Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2005
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.41.452