Modeling and feedback control of a flexible arm of a robot for prescribed frequency-domain tolerances

✍ Scribed by Matei Kelemen; Arunabha Bagchi

• Publisher: Elsevier Science
• Year: 1993
• Tongue: English
• Weight: 840 KB
• Volume: 29
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/0005-1098(93)90095-b

✦ Synopsis

In this article we solve the problem of achieving quantitative specifications for the tip of a rotating flexible beam with uncertainty in some of its physical and geometric parameters. The frequency-domain design method used here is also helpful in clarifying some limitations on the feedback loop capabilities due to the distributed nature of the problem. Finally, time domain simulations, while proving the validity of the design method suggested in this work, pointed to some interesting mathematical problems concerning the influence of some of the parameters on the plant dynamics with possible physical consequences on the design of flexible beams.

1. Introduction

IN RECENT YEARS a significant research effort has been devoted to the study of flexible beams. Apart from the theoretical interest, this attention is motivated by important applications in robotics and flexible structures.

There are two (not decoupled) directions of research, with results both in state space and frequency-domain modeling and control of flexible beams, see Sakawa and Luo (1989),