NDLI: Experimental study on PDS force control of a flexible arm considering bending and torsional deformation

Content Provider	IEEE Xplore Digital Library
Author	Morita, Y. Matsuno, F. Ikeda, M. Ukai, H. Kando, H.
Copyright Year	2002
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Nagoya Inst. of Technol., Japan (Morita, Y.)
Abstract	This paper describes the Lyapunov-based force control suppressing the coupled bending and torsional vibrations of a one-link flexible arm with a rigid tip body. On the basis of the distributed parameter model, the output feedback control law is constructed using Lyapunov method, and the asymptotic stability of the closed-loop system is proved on the basis of the invariance principle. The constructed control law consists of the PD feedback of the motor angle, a feedback of the bending strain at the root of the flexible arm, and the feedforward of the desired bending moment torque to achieve the desired force control, which is called PDS force control. Some experiments are performed to show the effectiveness of the proposed controller. From the results, it is found that the bending strain feedback is effective for not only bending vibration absorption but also torsional vibration absorption.
Sponsorship	IEEE Ind. Electron. Soc. Univ. Maribor Slovenia Ministr. Educ., Sci. & Sport Soc. Instrum. & Control Eng. (Japan) IEEE Region 8, Slovenia Sect
Starting Page	408
Ending Page	413
File Size	591047
Page Count	6
File Format	PDF
ISBN	0780374797
DOI	10.1109/AMC.2002.1026955
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-07-03
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Force feedback Capacitive sensors Absorption Vibration control Output feedback Lyapunov method Asymptotic stability Torque control Strain control
Content Type	Text
Resource Type	Article

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