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An interdisciplinary undergraduate project to set up a prototype flexible robot link is discussed. The project consists of modeling, fabrication, and control of the flexible link. The combination of already well-known Lagrange and finite-element methods seems to be a great advantage in this modeling procedure. Lightwave flexible links, although known to save a large amount of operational energy, are not popular in the industry because of difficulty in their modeling and control. Following the methodology suggested, modeling is reduced to a mechanical procedure capable of efficient computer implementation. A simple controller is suggested. The controller is designed using the MATLAB simulation package, and the results are compared graphically. The lessons learned form the project are reported
Published in:
Education, IEEE Transactions on
(Volume:35
,
Issue:
1
)
Date of Publication: Feb 1992
- Page(s):
- 83 - 89
- ISSN :
- 0018-9359
- INSPEC Accession Number:
- 4146271
- Digital Object Identifier :
- 10.1109/13.123422
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Feb 1992
- Sponsored by :
- IEEE Education Society
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