Modeling and feedback control of a flexible arm of a robot for prescribed frequency-domain tolerances

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Bagchi, Arunabha and Kelemen, Matei (1993) Modeling and feedback control of a flexible arm of a robot for prescribed frequency-domain tolerances. Automatica, 29 (4). pp. 899-909. ISSN 0005-1098

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Abstract:In this article we solve the problem of achieving quantitative specifications for the tip of a rotating flexible beam with uncertainty in some of its physical and geometric parameters. The frequency-domain design method used here is also helpful in clarifying some limitations on the feedback loop capabilities due to the distributed nature of the problem. Finally, time domain simulations, while proving the validity of the design method suggested in this work, pointed to some interesting mathematical problems concerning the influence of some of the parameters on the plant dynamics with possible physical consequences on the design of flexible beams.
Item Type:Article
Copyright:© 1993 Elsevier Science
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:http://purl.utwente.nl/publications/29966
Official URL:http://dx.doi.org/10.1016/0005-1098(93)90095-B
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Metis ID: 140600