State-feedback controller for a two-degree-of-freedom flexible robot arm

J. van Amerongen; L. Kruise; P. Lohnberg; M.J.L. Tiernego

doi:10.1016/S1474-6670(17)51089-7

State-feedback controller for a two-degree-of-freedom flexible robot arm

J. van Amerongen, L. Kruise, P. Lohnberg, M.J.L. Tiernego

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Abstract

This paper describes the control of a two-degree-of-freedom flexible robot arm. The controller design is based on a simplified model, which consists of a number of interacting submodels. The submodel for a flexible link consists of an infinite number of vibration modes. When a steady-state correction for the higher modes is introduced, it is possible to model the low-frequency behaviour correctly with only a limited number of modes in the model. The controller design is based on a simplified model. In this simplified model the Coriolis and centrifugal forces and nearly all steady-state corrections are disregarded. However, the coupling between the vibrations in the two links is taken into account. Experimental results of a laboratory set up demonstrate the feasibility of the proposed algorithm.

Original language	English
Pages (from-to)	399-404
Number of pages	7
Journal	IFAC proceedings volumes
Volume	24
Issue number	9
DOIs	https://doi.org/10.1016/S1474-6670(17)51089-7
Publication status	Published - 16 Sept 1991
Event	3rd IFAC Symposium on Robot Control, SYROCO 1991 - Vienna, Austria Duration: 16 Sept 1991 → 18 Sept 1991 Conference number: 3

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title = "State-feedback controller for a two-degree-of-freedom flexible robot arm",

abstract = "This paper describes the control of a two-degree-of-freedom flexible robot arm. The controller design is based on a simplified model, which consists of a number of interacting submodels. The submodel for a flexible link consists of an infinite number of vibration modes. When a steady-state correction for the higher modes is introduced, it is possible to model the low-frequency behaviour correctly with only a limited number of modes in the model. The controller design is based on a simplified model. In this simplified model the Coriolis and centrifugal forces and nearly all steady-state corrections are disregarded. However, the coupling between the vibrations in the two links is taken into account. Experimental results of a laboratory set up demonstrate the feasibility of the proposed algorithm.",

author = "{van Amerongen}, J. and L. Kruise and P. Lohnberg and M.J.L. Tiernego",

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TY - JOUR

T1 - State-feedback controller for a two-degree-of-freedom flexible robot arm

AU - van Amerongen, J.

AU - Kruise, L.

AU - Lohnberg, P.

AU - Tiernego, M.J.L.

N1 - Conference code: 3

PY - 1991/9/16

Y1 - 1991/9/16

N2 - This paper describes the control of a two-degree-of-freedom flexible robot arm. The controller design is based on a simplified model, which consists of a number of interacting submodels. The submodel for a flexible link consists of an infinite number of vibration modes. When a steady-state correction for the higher modes is introduced, it is possible to model the low-frequency behaviour correctly with only a limited number of modes in the model. The controller design is based on a simplified model. In this simplified model the Coriolis and centrifugal forces and nearly all steady-state corrections are disregarded. However, the coupling between the vibrations in the two links is taken into account. Experimental results of a laboratory set up demonstrate the feasibility of the proposed algorithm.

AB - This paper describes the control of a two-degree-of-freedom flexible robot arm. The controller design is based on a simplified model, which consists of a number of interacting submodels. The submodel for a flexible link consists of an infinite number of vibration modes. When a steady-state correction for the higher modes is introduced, it is possible to model the low-frequency behaviour correctly with only a limited number of modes in the model. The controller design is based on a simplified model. In this simplified model the Coriolis and centrifugal forces and nearly all steady-state corrections are disregarded. However, the coupling between the vibrations in the two links is taken into account. Experimental results of a laboratory set up demonstrate the feasibility of the proposed algorithm.

U2 - 10.1016/S1474-6670(17)51089-7

DO - 10.1016/S1474-6670(17)51089-7

M3 - Conference article

SN - 1474-6670

VL - 24

SP - 399

EP - 404

JO - IFAC proceedings volumes

JF - IFAC proceedings volumes

IS - 9

T2 - 3rd IFAC Symposium on Robot Control, SYROCO 1991

Y2 - 16 September 1991 through 18 September 1991

ER -

State-feedback controller for a two-degree-of-freedom flexible robot arm

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