제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.577-582
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- 1989
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)
- 발행 : 1989.10.01
초록
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.
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