Document Type

Article

Publication Date

1992

Publication Title

Robotica

Volume

10

Issue

2

First page number:

134

Last page number:

145

Abstract

This paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of . switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying payloads is presented.

Keywords

Dual-mode controller; Flexible arm; Mobile robots -- Automatic control; Robotics; Static deflection; Trajectory tracking

Comments

Best copy available

Download

UNLV article access

Search your library

Share

COinS