Modeling and feedback control of a flexible arm of a robot for prescribed frequency-domain tolerances

Arunabha Bagchi, Matei Kelemen

    Research output: Contribution to journalArticleAcademicpeer-review

    18 Citations (Scopus)
    92 Downloads (Pure)

    Abstract

    In this article we solve the problem of achieving quantitative specifications for the tip of a rotating flexible beam with uncertainty in some of its physical and geometric parameters. The frequency-domain design method used here is also helpful in clarifying some limitations on the feedback loop capabilities due to the distributed nature of the problem. Finally, time domain simulations, while proving the validity of the design method suggested in this work, pointed to some interesting mathematical problems concerning the influence of some of the parameters on the plant dynamics with possible physical consequences on the design of flexible beams.
    Original languageEnglish
    Pages (from-to)899-909
    Number of pages11
    JournalAutomatica
    Volume29
    Issue number29
    DOIs
    Publication statusPublished - 1993

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