Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques

[+] Author and Article Information
W. J. Book, M. Majette

School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Ga 30332

J. Dyn. Sys., Meas., Control 105(4), 245-254 (Dec 01, 1983) (10 pages) doi:10.1115/1.3140666 History: Received June 28, 1982; Online July 21, 2009


The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.

Copyright © 1983 by ASME
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