CONTROLLER-DESIGN OF A ONE-LINK FLEXIBLE ROBOT ARM

Authors
ABDULJABBAR Z ELMADANY MM ALDOKHIEL HD
Citation
Z. Abduljabbar et al., CONTROLLER-DESIGN OF A ONE-LINK FLEXIBLE ROBOT ARM, Computers & structures, 49(1), 1993, pp. 117-126
Citations number
18
Categorie Soggetti
Computer Sciences","Computer Application, Chemistry & Engineering",Engineering,"Computer Applications & Cybernetics
Journal title
Computers & structures → ACNP
ISSN journal
00457949
Volume
49
Issue
1
Year of publication
1993
Pages
117 - 126
Database
ISI
SICI code
0045-7949(1993)49:1<117:COAOFR>2.0.ZU;2-O
Abstract
In this paper, a one link manipulator with an actuator located at the base is considered. The model of a flexible manipulator is developed u sing a truncated modal expansion solution of a Bernoulli-Euler beam. A truncated model retains the rigid body mode and the first three flexi ble modes. Measurements are made on the flexible arm yielding time var ying quantities which are linear combinations of the system states. Se veral controllers to control the flexible modes of the flexible arm ar e designed and discussed.