Title :
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
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;
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
DOI :
10.1109/EPEPEMC.2012.6397363
