Vibration Absorption Control of Robot Arm with Flexible Drive System : The Case of One-Link Arm Using Harmonic Drive
نویسندگان
چکیده
منابع مشابه
Vibration Control of Flexible Arm for Robot Experiment on JEM
In this paper, the dynamics and control of a novel mobile robot on the International Space Station (ISS) are discussed. The Japan Aerospace Exploration Agency (JAXA) is developing a robotic system which has an extendable arm and several tethers to support Extravehicular Activity (EVA) performed by astronauts. The robotic arm is build from a light material and can be extended longer. The vibrati...
متن کاملControl of Flexible Robot Arm
T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...
متن کاملControl of a Direct-Drive Arm
A direct-drive arm is a mechanical arm in which the shafts of articulared joints are directly coupled to the rotors of motors with high torque. Since the arm does not contain transmission mechanisms between the motors and their loads, the drive system has no backlash, small friction, and high mechanical stiffness, all of which are desirable for fast, accurate, and versatile robots. First, the p...
متن کاملControl of a Direct-Drive Arm
12 direct-drivc arm is a new mechanical ami in which the shafts of articulatcd joints arc directly co~iplcd to thc rotors of high pcrformance torque motors. Since the arm does not contain any gcars or transmission mechanisms between thc motors and their loads. the drive systems have no backlash, small friction and high mcchanical stiffncss, all of which are desirable for fast, accurate and vcrs...
متن کاملAdaptive nonlinear control of one-link flexible arm
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...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1989
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.55.2376