Comparative study on the acceleration feedback and the strain feedback of a flexible manipulator

Author

Tiemin, Zhang ; Youwu, Liu ; Shaoze, Yan ; Qing, Zhang ; Haigen, Zhang

Author_Institution

Dept. of Mech. Eng., Tianjin Univ., China

Volume

2

fYear

1996

fDate

14-17 Oct 1996

Firstpage

1031

Abstract

Based on the Euler-Bernoulli beam theory, the dynamic equations of a flexible manipulator are simplified to a series of linear equations. Then the transfer functions of the PID control with the tip acceleration feedback and the beam strain feedback are obtained respectively. This article describes laboratory results for the flexible manipulator in which two separate control strategies are compared and contrasted. The experimental results prove that the tip acceleration or the beam strain as a feedback signal added to the PID controller to control the vibration of the flexible manipulator is effective and feasible

Keywords

feedback; manipulator kinematics; three-term control; transfer functions; vibration control; Euler-Bernoulli beam theory; PID control; acceleration feedback; beam strain feedback; control strategies; flexible manipulator; linear equations; strain feedback; tip acceleration feedback; transfer functions; Acceleration; Capacitive sensors; Equations; Feedback; Laboratories; Manipulator dynamics; Particle beams; Strain control; Three-term control; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.571222

Filename

571222