Title :
Controlling the impact response of a one-link flexible robotic arm
Author :
Chapnik, B.V. ; Heppler, G.R. ; Aplevich, J.D.
Author_Institution :
Vibron Ltd., Mississauga, Ont., Canada
Abstract :
A finite-element model of a single-link flexible robotic arm is derived, and the initial conditions required to represent impact loading are determined. An open-loop control system is designed using frequency-domain techniques to compute a desired hub torque profile. The motion of the arm after tip impact and including hub actuation is simulated. Simulation results are compared to experimental data. It is shown that the controller damps vibration caused by the impact and allows the steady-state tip deflection to be predetermined
Keywords :
control system synthesis; frequency-domain analysis; robots; torque control; vibration control; damping; finite-element model; frequency-domain; hub torque profile; impact response; one-link flexible robotic arm; open-loop control; vibration control; Arm; Computational modeling; Damping; Finite element methods; Friction; Open loop systems; Orbital robotics; Robots; Torque control; Vibration control;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126208
