제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Translational control of a one link flexible arm

  • Lee, Seong-Cheol (Dpartmenr of Mechanical Engineering, Chonbuk National University) ;
  • Seiji Chonan (Department of Mechanical Engineering, Faculty of Engineering, Tohoku University) ;
  • Hikaru Inooka (Department of Mechanical Engineering, Faculty of Engineering, Tohoku University)
  • Published : 1989.10.01
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Abstract

This is a study of the translational end-point control of a single link flexible arm-with a tip mass. The beam is mounted on a translational mechanism driven by the ball screw, whose rotation is controlled by DC servomotor. The problem of shifting the end-point from its initial position to the commanded position is studied analytically both for the open-loop control subjected to some path functions and for the closed-loop control using the feedback of the tip information.

Keywords