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TECHNICAL PAPERS

Effect of Shaft Flexibility on Control System Parameters

[+] Author and Article Information
H. Diken

Faculty of Aeronautics and Astronautics, Istanbul Technical University, Istanbul, Turkey

J. Vib. Acoust 122(3), 222-226 (Sep 01, 1999) (5 pages) doi:10.1115/1.1305915 History: Received September 01, 1998; Revised September 01, 1999
Copyright © 2000 by ASME
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References

Cannon,  R. H., and Rosenthal,  D. E., 1984, “Experiments in Control of Flexible Structure with Noncolocated Sensors and Actuators,” AIAA J. Guid. Control Dynam., 7, No. 5, pp. 546–553.
Book,  W. J., 1993, “Controlled Motion in an Elastic World,” ASME J. Dyn. Syst., Meas., Control, 115, pp. 252–261.
Marino, M., and Spong, M. W., 1986, “Nonlinear Control Techniques for Flexible Joint Manipulators: A Single Link Case Study,” IEEE Int. Conference on Robotics and Automation, San Francisco, CA, pp. 1026–1030.
Spong,  M. W., 1987, “Modeling and Control of Elastic Joint Robots,” ASME J. Dyn. Syst., Meas., Control, 109, pp. 310–319.
Sato,  O., Shimajima,  H., and Kaneko,  T., 1987, “Positioning Control of a Gear Train System Including Flexible Shafts,” JSME Int. J., 30, No. 267, pp. 1465–1472.
Massoud,  A. T., and El-Maraghy,  H. A., 1996, “Design, Dynamics and Identification of a Flexible Joint Manipulator,” Int. J. Robot. Autom., 11, No. 1, pp. 22–35.
Diken,  H., 1996, “Precise Trajectory Tracking Control of Elastic Joint Manipulator,” AIAA J. Guid. Control Dynam., 19, No. 3, pp. 715–718.
Lozano,  R., and Brogliato,  B., 1996, “Adaptive Control of Robot Manipulator with Flexible Joints,” IEEE Trans. Autom. Control, 37, No. 2, pp. 174–181.
Fu, K. S., Gonzales, R. C., and Lee, C. S. G., 1987, Robotics: Control, Sensing, Vision, and Intelligence, McGraw-Hill, New York.
Dorf, R. C., and Bishop, R. H., 1995, Modern Control Systems, 7th ed., Addison-Wesley, Reading, MA.

Figures

Grahic Jump Location
Root locus of the elastic control system, μ=2,ζ=0.3
Grahic Jump Location
Root locus of the elastic control system, μ=2,ζ=0.9
Grahic Jump Location
Elastic control system damping ratio ζe/ζ with respect to the frequency ratio ωL/ω.ζ<ζb,μ=2
Grahic Jump Location
Elastic control system frequency ωe/ω with respect to the frequency ratio ωL/ω.ζ<ζb,μ=2
Grahic Jump Location
Step response of the system. μ=2,(ωL/ω)=1,ζ=0.5,ω=70,α=z/ζω=2.
Grahic Jump Location
Step response of the system. μ=2,(ωL/ω)=3,ζ=0.5,ω=70,α=z/ζω=2.
Grahic Jump Location
Step response of the system. μ=2,(ωL/ω)=1,ζ=1.0,ω=70,α=z/ζω=2.
Grahic Jump Location
Step response of the system. μ=2,(ωL/ω)=4,ζ=1.0,ω=70,α=z/ζω=2.
Grahic Jump Location
Step response of the system. μ=1.2,(ωL/ω)=4,ζ=1.0,ω=70,α=z/ζω=2.

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