CONTROLLING THE IMPACT RESPONSE OF A ONE-LINK FLEXIBLE ROBOTIC ARM

Authors
CHAPNIK BV HEPPLER GR APLEVICH JD
Citation
Bv. Chapnik et al., CONTROLLING THE IMPACT RESPONSE OF A ONE-LINK FLEXIBLE ROBOTIC ARM, IEEE transactions on robotics and automation, 9(3), 1993, pp. 346-351
Citations number
26
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Computer Applications & Cybernetics
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
9
Issue
3
Year of publication
1993
Pages
346 - 351
Database
ISI
SICI code
1042-296X(1993)9:3<346:CTIROA>2.0.ZU;2-X
Abstract
An open-loop control system is designed using frequency-domain techniq ues to compute a desired hub torque profile. The motion of the arm aft er dp impact, including hub actuation, is simulated. Simulation result s are compared to experimental data. It is shown that the controller d amps vibration caused by the impact and allows the steady-state tip de flection to be predetermined.