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
fDate :
6/1/1993 12:00:00 AM
Abstract :
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, 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; manipulators; vibration control; frequency-domain; hub actuation; hub torque profile; impact response control; manipulators; one-link flexible robotic arm; open-loop control system; tip deflection; tip impact; vibration damping; Computational modeling; Control systems; Damping; Design engineering; Finite element methods; Open loop systems; Robots; Steady-state; Structural beams; Torque control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
