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Experimental dual-mode control of a flexible robotic arm

Published online by Cambridge University Press:  09 March 2009

Woosoon Yim,
Jichun Zuang and
Sahjendra Singh
Woosoon Yim
Affiliation:
Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, Las Vegas, Nevada 89154 (USA)
Jichun Zuang
Affiliation:
Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, Las Vegas, Nevada 89154 (USA)
Sahjendra Singh
Affiliation:
Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, Las Vegas, Nevada 89154 (USA)
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Summary

This paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying pay loads is presented.

Keywords

Flexible armDual-mode controllerTrajectory trackingStatic deflection

Information

Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992, pp. 135 - 145
Copyright
Copyright © Cambridge University Press 1992

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