Mechatronic design and control of rotary flexible joint

Author

Iles, Sandor ; Ivancic, A. ; Matusko, Jadranko ; Kolonic, Fetah

Author_Institution

Dept. of Electr. Machines, Drives & Autom., Univ. of Zagreb, Zagreb, Croatia

fYear

2012

fDate

4-6 Sept. 2012

Abstract

The model of rotational mechanical system is laboratory model intended to emulate a flexible joint on a robot or spacecraft and is also useful in the study of vibration analysis and resonance. This system is similar in nature to the control problems encountered in large geared robot joints where flexibility is exhibited in the gearbox. The aim of this paper is to design such mechatronic system with considerable elasticity, for educational purposes, using computer aided design (CAD). Control algorithm is proposed for designed mechanical system in order to reduce effects of flexibility.

Keywords

CAD; control engineering computing; control system synthesis; design engineering; elasticity; gears; iterative methods; linear matrix inequalities; linear quadratic control; mechanical engineering computing; mechatronics; power transmission (mechanical); robots; vibrations; CAD; computer aided design; control algorithm; elasticity; flexibility effect; gearbox; geared robot joint; mechanical system design; mechatronic design; resonance; rotary flexible joint control; rotational mechanical system; spacecraft; vibration analysis; Computational modeling; Joints; Mechatronics; Software packages; Flexible joint; Linear quadratic regulator; Mechatronic design;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Motion Control Conference (EPE/PEMC), 2012 15th International

Conference_Location

Novi Sad

Print_ISBN

978-1-4673-1970-6

Electronic_ISBN

978-1-4673-1971-3

Type

conf

DOI

10.1109/EPEPEMC.2012.6397363

Filename

6397363