Automation and cybernetics: Control of a flexible one-link manipulator

被引：3

作者：

GamarraRosado, VO ^{[1
]}

Fernandez, G ^{[1
]}

Grieco, JC ^{[1
]}

Armada, M ^{[1
]}

Aliane, N ^{[1
]}

机构：

[1] CSIC, INST AUTOMAT IND, MADRID, SPAIN

来源：

KYBERNETES | 1996年 / 25卷 / 05期

关键词：

advanced manufacturing technologies; automated operations; control; cybernetics; robotics;

D O I：

10.1108/03684929610124104

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

States that control is of the essence in cybernetics. Summarizes the dynamic equations for a flexible one-link manipulator moving in the horizontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instruments a one-link flexible manipulator in order to control its vibration modes. Uses a simple second-order vibration model which permits vibrations on the rod to be estimated using the hub angle. The validation of the dynamic model and the structural analysis of the flexible manipulator is reached using proper infrared cameras and active light sources for determining actual positions of objects in space. Shows that the performance of the control is satisfactory, even under perturbation action.

引用

页码：38 / +

页数：1

共 7 条

[1]

BOOK WJ, 1984, INT J ROBOT RES, V3, P87, DOI 10.1177/027836498400300305

[2]

BOOK WJ, 1975, T ASME, P424

[3] INITIAL EXPERIMENTS ON THE ENDPOINT CONTROL OF A FLEXIBLE ONE-LINK ROBOT [J].