Dynamics Based Force Control of a One-Link Flexible Arm Considering Bending and Torsional Deformation
نویسندگان
چکیده
منابع مشابه
Lyapunov-based Force Control of a Flexible Arm Considering Bending and Torsional Deformation
This paper describes the Lyapunov-based force control suppressing the coupled bending and torsional vibrations of a one-link flexible arm with a rigid tip body. On the basis of the distributed parameter model, the output feedback control law is constructed using Lyapunov method, and the asymptotic stability of the closedloop system is proved. The proposed controller consists of the PD feedback ...
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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 ...
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The force control of a constrained one-link flexible arm is considered based on a linear distributed parameter model. To overcome the inherent limitations caused by the non-minimum phase nature of the noncollocation of the joint torque input and the tip contact force output, a passive transfer function is obtained by using the methods of feedback and output redefinition. A passivity-based PD co...
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When a flexible arm is r o t a t e d b y a motor a b o u t an axis th rough the arm's fixed end , t ,ransverse vibrat ion may occur. The motor t o r q u e should be controlled in such a way that t h e motor rotates b y a specified angle, while simultaneously stabil izing v ibra t ion of t h e flexible arm so that it is arrested at t h e end of rotat ion. In this paper, we propose determinis t i...
متن کاملTip-contact force control of a single-link flexible arm using feedback and parallel compensation approach
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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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2002
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.38.549