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Design and control of minimum-phase flexible arms with torque transmission mechanisms

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2 Author(s)
J. -H. Park ; Dept. of Mech. Eng., MIT, Cambridge, MA, USA ; H. Asada

A flexible arm with a special transmission mechanism is analyzed, and a method for integrated design of the arm structure and controller is presented. Control of flexible arms is a difficult problem because of the complicated dynamic coupled with the nonminimum-phase nature which is due to the noncollocated construction of sensor and actuator. The transmission mechanism developed relocates the torque-actuation point on the arm and modifies the flexible arm to a minimum-phase system. The resulting flexible arm is analyzed in terms of poles and zeros that are changed by relocating the torque-actuation point. A simple prototype arm is designed and compared with a nonminimum-phase arm. The effectiveness of the special transmission is discussed with regard to control performance, and an integrated structure/control design methodology is proposed

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990