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Modeling and Control of a Flexible Robot Link

  • L. Kruise
  • J. Van Amerongen
  • P. Löhnberg
  • M. J. L. Tiernego
Conference paper
Part of the International Union of Theoretical and Applied Mechanics book series (IUTAM)

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.

Keywords

Strain Gauge State Feedback Modal Motion Infinite Order Pole Placement 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Sakawa, Y., Matsuno, F. and Fukushima, S., “Modelling and feedback control of a flexible arm,” Journal of Robotic Systems, vol. 2, 1985, 453–472.CrossRefGoogle Scholar
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    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.Google Scholar
  3. 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.Google Scholar
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    Hastings, G.G. and Book, W.J., “A linear dynamic model for flexible robotic manipulators,” IEEE Control Systems Magazine, February 1987, 61–64.Google Scholar
  5. 5.
    Ter Reehorst, G., “Control of a flexible link by using transputers, “ Internal Report, University of Twente, 1988 (not yet finished).Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • L. Kruise
    • 1
  • J. Van Amerongen
    • 1
  • P. Löhnberg
    • 1
  • M. J. L. Tiernego
    • 2
  1. 1.Control Systems and Computer Engineering Laboratory Department of Electrical EngineeringUniversity of TwenteEnschedeThe Netherlands
  2. 2.Royal Militairy AcademyBredaThe Netherlands

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