Feedback control of vibrations in a moving flexible robot arm with rotary and prismatic jointsA robot with a long extendible flexible arm which can also undergo both vertical translation and rotary motion is considered. First, A distributed-parameter model for the robot arm dynamics is developed. It is found that the extending motion could enhance the arm vibrations. Then, a Galerkin-type approximation based on an appropriate time-dependent basis for the solution space is used to obtain an approximate finite-dimensional model for simulation studies. A feedback control for damping the motion-induced vibrations is derived by considering the time rate-of-change of the total vibrational energy of the flexible arm. The authors conclude with some simulation results for a special case with the proposed control law.
Document ID
19880055508
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wang, P. K. C. (California Univ. Los Angeles, CA, United States)
Wei, Jin-Duo (California, University Los Angeles, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1987
Subject Category
Cybernetics
Meeting Information
Meeting: 1987 IEEE International Conference on Robotics and Automation