Automation and cybernetics: control of a flexible one-link manipulator

States that control is of the essence in cybernetics. Summarizes the dynamic equations for a flexible one-link manipulator moving in the horizontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instruments a one-link flexib...

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Bibliographic Details
Published in:Kybernetes 1996-07, Vol.25 (5), p.38-47
Main Authors: Gamarra-Rosado, V.O, Fernández, G, Grieco, J.C, Armada, M, Aliane, N
Format: Article
Language:English
Subjects:
Applied sciences
Automation
Computer science
control theory
systems
Control theory. Systems
Cybernetics
Exact sciences and technology
Manufacturing
Robotics
Robots
Technology
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Summary:States that control is of the essence in cybernetics. Summarizes the dynamic equations for a flexible one-link manipulator moving in the horizontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instruments a one-link flexible manipulator in order to control its vibration modes. Uses a simple second-order vibration model which permits vibrations on the rod to be estimated using the hub angle. The validation of the dynamic model and the structural analysis of the flexible manipulator is reached using proper infrared cameras and active light sources for determining actual positions of objects in space. Shows that the performance of the control is satisfactory, even under perturbation action.
ISSN:0368-492X
1758-7883
DOI:10.1108/03684929610124104