Joint stiffness control of a two-link flexible arm

被引：7

作者：

Pun, J ^{[1
]}

Semercigil, SE ^{[1
]}

机构：

[1] Victoria Univ Technol, Sch Built Environm Mech Engn, Melbourne, Vic 3000, Australia

来源：

NONLINEAR DYNAMICS | 2000年 / 21卷 / 02期

关键词：

vibration control; multi-link robotic arms;

D O I：

10.1023/A:1008370628999

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this study, results are presented for the control of impact induced transient oscillations on a two-link flexible arm by varying the stiffness of an elbow actuator. Case studies were conducted to determine the effectiveness of the control method as various arm parameters such as payload, length, elbow angle, and elbow stiffness changed. The results of selected cases were then verified experimentally and demonstrated that the suggested controller was effective, robust, and quite insensitive to parameter variations.

引用

页码：173 / 192

页数：20

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