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RESEARCH PAPERS

Modeling and Control of Single-Link Flexible Arms With Lumped Masses

[+] Author and Article Information
V. Feliu

Department of Ingenieria Electrica, Electronica Y De Control, E.T.S.I. Industriales De La Uned, Madrid-28080, Spain

K. S. Rattan

Department of Electrical Engineering, Wright State University, Dayton, OH 45435

H. B. Brown

Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213

J. Dyn. Sys., Meas., Control 114(1), 59-69 (Mar 01, 1992) (11 pages) doi:10.1115/1.2896508 History: Received March 22, 1989; Revised March 12, 1991; Online March 17, 2008

Abstract

This paper deals with the modeling and control of a special class of single-link flexible arms. These arms consist of flexible massless structures having some masses concentrated at certain points of the beam. In this paper, the dynamic model of such flexible arms is developed and some of the control properties are deduced. A robust control scheme to remove the effects of friction in the joins is proposed. The control scheme consists of two nested feedback loops, an inner loop to control the position of the motor and an outer loop to control the tip position. The inner loop is described in other publications. A simple feedforward-feedback controller is designed for the outer loop to drive the beam accurately along a desired trajectory. Effects of the changes in the tip’s mass are studied. This modeling and control method is then generalized to the distributed-mass flexible beam case. Finally, experimental results are presented.

Copyright © 1992 by The American Society of Mechanical Engineers
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