Title :
A control-configured flexible arm: integrated structure control design
Author :
Asada, H. ; Park, J.-H. ; Rai, S.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
The integrated structure/control design of flexible robot arms is presented. The open loop, poles, and zeros are relocated by modifying the geometry and the structure of the arm. To determine the geometry and structure in a systematic manner, an inverse mapping method based on finite-element modeling and sensitivity analysis is applied to the flexible arm design. Using this method, a beam geometry that allows for a significantly high natural frequency is obtained. In order to relocate zeros, the torque transmission technique is applied. It makes it possible to remove nonminimum-phase zeros and make the endpoint control robustly stable. Based on the theoretical analysis and computation, a prototype arm was designed and built, and its performance was evaluated
Keywords :
computational geometry; control system synthesis; finite element analysis; poles and zeros; robots; sensitivity analysis; beam geometry; control-configured flexible arm; endpoint control; finite-element modeling; integrated structure control design; inverse mapping; open loop; poles; robots; sensitivity analysis; torque transmission; zeros relocation; Computational geometry; Control design; Finite element methods; Frequency; Manipulators; Open loop systems; Poles and zeros; Robot sensing systems; Sensitivity analysis; Solid modeling;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131755
