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Controlling the impact response of a one-link flexible robotic arm

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3 Author(s)
Chapnik, B.V. ; Vibron Ltd., Mississauga, Ont., Canada ; Heppler, G.R. ; Aplevich, J.D.

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