W-1-3-4 STABILITY PROPERTIES OF CONTROLLED FLEXIBLE ARM : THEORETICAL AND EXPERIMENTAL ASPECTS

• Wang Shuxin

  Department of Mechanical Engineering Tianjin University

• Yun Jintian

  Department of Mechanical Engineering Tianjin University

• Liu Zhi

  Department of Mechanical Engineering Tianjin University

• Morel Guillaume

  Ecole Nationale Superieure de Physique de Strasbourg, France

• Dantzer Christophe

  Ecole Nationale Superieure de Physique de Strasbourg, France

抄録

For vision-based controlled flexible arm, the accuracy of the finite dimensional dynamic models and stability become very important for controller design. This paper designs suitable controller for a flexible arm with vision-based control. Input of the controller is the measured position error of the beam tip, which can be directly obtained by camera. In spite of the observed differences of results between actual system and simulated system, the results are good enough to validate the arm model. Simulation and experimental results show that the PID controller is acceptable. It is also stressed that two limiting factors, which are the camera sampling rate and a dead band in the velocity command, will influence the properties of the control system for vision-based controlled flexible arm.

収録刊行物

• The Proceedings of the Asian Conference on Multibody Dynamics

  The Proceedings of the Asian Conference on Multibody Dynamics 2002 (0), 65-70, 2002

  一般社団法人 日本機械学会

キーワード

• Flexible arm Vision-based control Dynamics Vibration reduction

詳細情報

• CRID: 1390282680864554624
• NII論文ID: 110002490585
• DOI: 10.1299/jsmeacmd.2002.65
• ISSN: 24242985
• Web Site: https://www.jstage.jst.go.jp/article/jsmeacmd/2002/0/2002_65/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可