Referenced Items are not available for this document.
A finite-element model of a single-link flexible robotic arm is derived, and the initial conditions required to represent impact loading are determined. An open-loop control system is designed using frequency-domain techniques to compute a desired hub torque profile. The motion of the arm after tip impact and including hub actuation is simulated. Simulation results are compared to experimental data. It is shown that the controller damps vibration caused by the impact and allows the steady-state tip deflection to be predetermined
Published in:
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Date of Conference: 13-18 May 1990
- Page(s):
- 1444 - 1449 vol.2
- Meeting Date :
- 13 May 1990-18 May 1990
- Print ISBN:
- 0-8186-9061-5
- INSPEC Accession Number:
- 3863784
- Conference Location :
- Cincinnati, OH
- Digital Object Identifier :
- 10.1109/ROBOT.1990.126208
- Product Type:
- Conference Publications
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