Title :
Modelling and Identification of a Flexible Arm
Author :
Van Den Bossche, E. ; Dugard, L. ; Landau, I.D.
Author_Institution :
Laboratoire d\´\´Automatique de Grenoble, GRECO C.N.R.S. "Adaptive Systems", I.N.P.G. - E.N.S.I.E.G. B.P. 46 - 38402 Saint-Martin-d\´\´Heres, France.
Abstract :
This paper deals with the modelling and identification of a flexible arm. A finite order model is built, using the finite elements method. Natural vibration modes are computed and are validated by identification of the flexible arm itself (using frequency analysis or using a discretized ARMA model). A simple linear control scheme corroborates the identification results.
Keywords :
Aluminum; Ambient intelligence; Differential equations; Frequency; Manipulator dynamics; Reduced order systems; Robot sensing systems; Structural beams; Torque; Vibrations;
Conference_Titel :
American Control Conference, 1986
Conference_Location :
Seattle, WA, USA
