• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.547-551
• /
• 1996

In this paper, robust vibration control of a one-link flexible robot arm based on variable structure system is discussed. We derive dynamic equations of it using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. The optimal sliding surface is designed and the problem of chattering is also solved by the adoption of a continuous control law within a small neighborhood of the switching hyperplane.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.595-599
• /
• 1989

A new simple method for controlling compliant motions of a flexible robot arm is presented. The method aims at controlling translational tip motion, force and moment by directly computing the base motion or torque. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the hybrid translational position/force control of a flexible robot arm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.86-91
• /
• 1988

The analytical studies and applicability of the implementation of the controller for the simple flexible arm studies and discussed in this thesis with the goal of developing flexible manipulator arm control. Minimum-time position control and quadractic-optimal control are investigated in this thesis. Its validity has been established using numerical simulations.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.4 no.3
• /
• pp.236-242
• /
• 2009

When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible robot arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}$-2C is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed. Lyapunov stability theory is applied to achieve a stable deterministic nonlinear controller for the regulation of joint angle.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1991.11a
• /
• pp.155-159
• /
• 1991

This paper is a study on the Inverse dynamics of a one-1ink flexible robot arm which is control led by the transiational base motion. The system is composed of the flexible arm, the mobil stage, a DC servomotor, and a computer. The arm base is shifted so that the tip follows a desired path function. The tip Rotten is measured by the laser displacement sensor. The governing equations are based on the Bernoullie-Euler beam theory and solved by applying the Laplace transform method and then the numerical inversion method to the resulted equations. Tip responses obtained both theoretically and experimentally are in good agreement with the desired trajectory, which shows that the scheme of inverse dynamics is effective for the open-loop endpoint positioning of the flexible am driven by the translation stage.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.14 no.5
• /
• pp.1112-1118
• /
• 1990

The end tip position control of a flexible robot arm has been presented by utilizing the feedback signal from the rate-gyro mounted at the end tip. Kalmann filter and the state feedback gains were determined by optimal sense based upon the parameter from the geometrical and electrical data of the flexible arm system. The simulation and experiment were performed and it has been proved that implementation of the rate-gyro drastically improves the performance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1996.10a
• /
• pp.197-202
• /
• 1996

The dynamic interaction between a translating flexible arm and a trapezoidal velocity profile of a cart to which the flexible arm is attached is presented. Vibration of the flexible arm due to translation is analytically solved, and the conditions for suppressing vibration is derived in terms of velocity profiles. To prove the validity of the solution and the conditions, numerical computation and experiments are camed out. Only a natural frequency of vibrating plant is needed to obtain the conditions for vibration reduction. With this results, a passive vibration regulator as an open loop control scheme can be designed and direct application to industrial plants such as overhead crane can be made.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.5
• /
• pp.1139-1144
• /
• 2012

The ration of payload to weight of industrial robot amounts form 1:10 to 1:30. Compared with man who have a ration of 3:1, it is very low. One of the goals for the next generation of robots will be a ration. This might be possible only by developing lightweight robots. When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}-2C$ is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed by using Lyapunov stability theory. We propose deterministic and adaptive control laws for two link flexible arm, and the validity of the proposed control scheme is shown in computer simulation for two-link flexible arm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.600-605
• /
• 1989

A theoretical study is presented for the end-point holding control of a one-link flexible arm, whose base is subjected to a lateral fluctuation. The arm is clamped on a rigid hub mounted directly on the shaft of d.c. servomoter. The tip position is measured by a gap sensor fixed in space isolated from the system vibration. The arm is controlled so as to make the end point stay precisely at its initial position even if the base is fluctuated.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1997.11a
• /
• pp.234-238
• /
• 1997

This paper describes the tip force control of a flexible minature arm. The arm is driven by the torques generated by the cells, and the endpoint of the arm is controlled so that it moves in synchrony with the fluctuation of the target and maintains a constant distance to the surface of the traget.