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Author Matsuno, F. ♦ Tanaka, M. ♦ Ikeda, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1994
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Vibration control ♦ Force control ♦ Force sensors ♦ Manipulator dynamics ♦ Eigenvalues and eigenfunctions ♦ Space stations ♦ Sensor systems ♦ Equations ♦ Boundary conditions ♦ Optimal control
Abstract This paper proposes a force and vibration controller of the flexible arm without vibration sensor. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Hamilton's principle, we derive dynamic equations of the joint angle, the vibration of the flexible arm, and the constraint force. The derived boundary condition is nonhomogeneous. We introduce a new variable and derive a homogeneous boundary condition. To compensate the spillover instability an optimal controller with low-pass property is constructed. A set of simulations has been carried out. Simulation results confirm that the controller performs remarkably well.<<ETX>>
Description Author affiliation: Dept. of Comput. & Syst. Eng., Kobe Univ., Japan (Matsuno, F.; Tanaka, M.; Ikeda, M.)
ISBN 0780319680
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1994-12-14
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 338.65 kB
Page Count 6
Starting Page 763
Ending Page 768


Source: IEEE Xplore Digital Library