제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Analysis of the Motion of a Cart with an Inverted Flexible Beam and a Concentrated Tip Mass

  • Park, Sangdeok (Process Automation Team, Research Institute of Industrial Science ＆ Technology(RIST), and Robotics Lab., School of Mechanical Engineering, POSTECH) ;
  • Wankyun Chung (Process Automation Team, Research Institute of Industrial Science ＆ Technology(RIST), and Robotics Lab., School of Mechanical Engineering, POSTECH) ;
  • Youngil Youm (Process Automation Team, Research Institute of Industrial Science ＆ Technology(RIST), and Robotics Lab., School of Mechanical Engineering, POSTECH) ;
  • Lee, Jaewon (Dept. of Mech. Eng., Yeungnam University)
  • Published : 1998.10.01
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Abstract

In this paper, the mathematical model of a cut with an inverted flexible beam and a concentrated tip mass was derived. The characteristic equation for calculating the natural frequencies of the cart-beam-mass system was obtained and the motion of the system was analyzed through unconstrained modal analysis. A good positioning response of the cart without excessive vibrational motion of the tip mass could be obtained through numerical simulation using PID controller with the feedback of both the position of the cart and the deflection of the beam.

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