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Modeling and Control of a Flexible Robot Link

  • Conference paper
Dynamics of Controlled Mechanical Systems

Summary

When a flexible link is rotated around an axis, vibrations occur in the link. This paper describes a controller that is able to control the end-position of the link. The flexible link is modelled in state space. It is shown that the model is of infinite order. A method is given for reducing this model to a finite-order model, for which a controller can be designed. A number of experiments is carried out to demonstrate the performance of the controller.

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References

  1. Sakawa, Y., Matsuno, F. and Fukushima, S., “Modelling and feedback control of a flexible arm,” Journal of Robotic Systems, vol. 2, 1985, 453–472.

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  2. Fukuda, T. and Kuribayashi, Y., “Precise control of flexible arms with reliable control systems,” Proceedings of the 1983 International Conference on Advanced Robotics, Japan Ind. Robot Assoc., Tokyo, Japan, vol. 1, 1983, 237–244.

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  3. Vugt, J. van, “Regeling van een servosysteem voor een elastische staaf (in dutch),” Internal Report, Nr 065.1708/86–007R, University of Twente, 1986.

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  4. Hastings, G.G. and Book, W.J., “A linear dynamic model for flexible robotic manipulators,” IEEE Control Systems Magazine, February 1987, 61–64.

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  5. Ter Reehorst, G., “Control of a flexible link by using transputers, “ Internal Report, University of Twente, 1988 (not yet finished).

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Author information

Authors and Affiliations

  1. Control Systems and Computer Engineering Laboratory Department of Electrical Engineering, University of Twente, Enschede, The Netherlands

    L. Kruise, J. Van Amerongen & P. Löhnberg

  2. Royal Militairy Academy, Breda, The Netherlands

    M. J. L. Tiernego

Authors
  1. L. Kruise
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  2. J. Van Amerongen
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  3. P. Löhnberg
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  4. M. J. L. Tiernego
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Editor information

Editors and Affiliations

  1. Institute of Mechanics, ETH-Zentrum, CH-8092, Zurich, Switzerland

    G. Schweitzer

  2. Institute of Automatic Control, ETH-Zentrum, CH-8092, Zurich, Switzerland

    M. Mansour

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© 1989 Springer-Verlag Berlin Heidelberg

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Cite this paper

Kruise, L., Van Amerongen, J., Löhnberg, P., Tiernego, M.J.L. (1989). Modeling and Control of a Flexible Robot Link. In: Schweitzer, G., Mansour, M. (eds) Dynamics of Controlled Mechanical Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83581-0_22

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  • DOI: https://doi.org/10.1007/978-3-642-83581-0_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-83583-4

  • Online ISBN: 978-3-642-83581-0

  • eBook Packages: Springer Book Archive

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