W-1-3-4 STABILITY PROPERTIES OF CONTROLLED FLEXIBLE ARM : THEORETICAL AND EXPERIMENTAL ASPECTS

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概要

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• For vision-based controlled flexible arm, the accuracy of the finite dimensional dynamic models and stability become very important for controller design. This paper designs suitable controller for a flexible arm with vision-based control. Input of the controller is the measured position error of the beam tip, which can be directly obtained by camera. In spite of the observed differences of results between actual system and simulated system, the results are good enough to validate the arm model. Simulation and experimental results show that the PID controller is acceptable. It is also stressed that two limiting factors, which are the camera sampling rate and a dead band in the velocity command, will influence the properties of the control system for vision-based controlled flexible arm.

• 一般社団法人日本機械学会の論文

著者

• LIU Zhi

  Department of Chemistry, Wuhan University

• Morel Guillaume

  Ecole Nationale Superieure De Physique De Strasbourg France

• Wang Shuxin

  Department of Mechanical Engineering Tianjin University

• Yun Jintian

  Department of Mechanical Engineering Tianjin University

• Dantzer Christophe

  Ecole Nationale Superieure de Physique de Strasbourg, France

• Dantzer Christophe

  Ecole Nationale Superieure De Physique De Strasbourg France

• Liu Zhi

  Department Of Chemical Engineering Tokyo University Of Agriculture And Technology

• Liu Zhi

  Department Of Mechanical Engineering Tianjin University

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