Title :
Design and control of minimum-phase flexible arms with torque transmission mechanisms
Author :
Park, Jahng-Hyon ; Asada, Haruhiko
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
A flexible arm with a special transmission mechanism is analyzed, and a method for integrated design of the arm structure and controller is presented. Control of flexible arms is a difficult problem because of the complicated dynamic coupled with the nonminimum-phase nature which is due to the noncollocated construction of sensor and actuator. The transmission mechanism developed relocates the torque-actuation point on the arm and modifies the flexible arm to a minimum-phase system. The resulting flexible arm is analyzed in terms of poles and zeros that are changed by relocating the torque-actuation point. A simple prototype arm is designed and compared with a nonminimum-phase arm. The effectiveness of the special transmission is discussed with regard to control performance, and an integrated structure/control design methodology is proposed
Keywords :
control system synthesis; poles and zeros; robots; torque control; integrated structure/control design; minimum-phase flexible arms; poles; robots; torque transmission mechanisms; torque-actuation point; zeros; Actuators; Arm; Control systems; Design methodology; Equations; Frequency; Mechanical systems; Poles and zeros; Shafts; Torque 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.1990.126268