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Design on the Controller of Flexible Robot using Sliding Sector Control  

Han, Jong-Kil (한려대학교 멀티정보통신과)
Bae, Sung-Hwan (한려대학교 멀티정보통신과)
Yang, Keun-Ho (한려대학교 멀티정보통신과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.5, no.5, 2010 , pp. 541-546 More about this Journal
Abstract
When a flexible arm is rotated by a motor about an joint axis, transverse vibration may occur. The motor torque should be controlled in such a way that the moter rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested at the end of rotation. In this paper, the dynamic model of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Nonlinear control with hysteresis deadzone using the sliding sector theory with continued input function in the sector is proposed.
Keywords
Sliding sector control; Hysteresis deadzone; Flexible arm; Bernoulli-Euler beam theory;
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