Position Control of a Flexible Arm Using a Dither Signal

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In this paper, we present the feedback control of a one-link flexible arm having reduction gear friction. Tip position control was very difficult when large friction was treated as an equivalent viscous friction. Experiments showed that tip position feedback control was possible using the dither signal. We investigated the influence of the dither amplitude on linearizing the nonlinear friction and the response of feedback control. The acceleration signal from the accelerometer at the arm tip, like the signal from the strain gauge at the arm root, could use feedback control for the fundamental vibration mode.
一般社団法人日本機械学会の論文
1993-03-15