Advantages of torque unit for flexible beam control

Author

Kobayashi, Jun ; Kugimachi, Hisataka ; Ohkawa, Fujio

Author_Institution

Dept. of Control Eng. & Sci., Kyushu Inst. of Technol., Fukuoka, Japan

Volume

1

fYear

2001

fDate

2001

Firstpage

345

Abstract

This paper describes a flexible beam with a "torque unit (TU)". The TU consists of a rotational actuator and a wheel, which is connected to the shaft of the actuator. The TU can be attached to any position on the beam as an additional actuator, and its counter-torque controls the beam\´s vibration. In order to show advantages of the TU for control of a flexible beam, we carried out some computer simulations of PD control for the flexible beam with the TU and without it. It was clarified from the simulation results that using the TU as an additional actuator improves control performance and saves energy. Moreover, it was shown how the TU\´s wheel size and position affect the control performance

Keywords

flexible manipulators; position control; vibration control; flexible beam control; flexible manipulator; joint trajectory tracking; manipulator; rotational actuator; torque unit; vibration control; Actuators; Control systems; Manipulators; PD control; Shafts; Size control; Torque control; Trajectory; Vibration control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-7108-9

Type

conf

DOI

10.1109/IECON.2001.976506

Filename

976506