Closed-Loop Displacement Control of a One-Link Flexible Arm with a Tip Mass
スポンサーリンク
概要
- 論文の詳細を見る
A theoretical and experimental study is presented for the displacement control of a one-link flexible arm with an end-point payload, The tip displacement of the arm is measured by a gap sensor fixed in space and controlled by a D. C. motor located at the other end of the arm, where the motor is driven by a feedback signal composed of the tip displacement and the velocity. As an example, the problem of shifting the end-point of the arm from its initial position to the commanded position by the amount of w^*_d is considered. Solutions derived by applying the method of the Laplace transform to the governing equations are calculated by the method of numerical inversion. Experimental results are obtained and compared with the theoretical ones, showing both results in good agreement for a wide range of parameters.
- 一般社団法人日本機械学会の論文
- 1988-06-15
著者
-
Chonan Seiji
Department Of Aeronautics And Space Engineering Tohoku University
-
Chonan Seiji
Department Of Mechanical Engineering Tohoku University
-
TAHARA Motoaki
Department of Mechanical Engineering, Tohoku University
-
Tahara Motoaki
Department Of Mechanical Engineering Tohoku University
関連論文
- ACTIVE TACTILE SENSING USING A TWO-FINGER SYSTEM
- Development of a tactile sensor system for reading Braille (Signal processing for robust recognition)
- P-MB-04 Development of a Tactile Sensor for Reading Braille
- Development of a haptic sensor for measuring skin morphological features
- Soundproof Characteristics and the Design of Three-Layered Cylindrical Shells
- Acoustic Characteristics and the Design of Two-Layered Cylindrical Shells
- Shock-proof design of head disk assembly subjected to impulsive excitation
- Measurement and valuation of touch sensation (Warm feeling compared with PVDF sensor output)
- P-MB-03 Measurement and Valuation of Touch Sensation
- Closed-Loop Displacement Control of a One-Link Flexible Arm with a Tip Mass
- Development of a wearable mental stress evaluation system using PVDF film sensor