Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 20, Issue 2, Pages 967-974Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2014.2327070
Keywords
Coupled mode analysis; impedance; manipulator dynamics; motion control; proportional-derivative (PD) control; vibration measurement
Ask authors/readers for more resources
This paper is concerned with a modeling method that can be used for an experimental identification of a dynamic system. More specifically, an equivalent lumped element system is presented to represent in a unique and exact manner a complete proportional-derivative (PD) controlled servo positioning system having a flexible manipulator. The impedance and mobility approach is used to transform the P and D control gains to an electrical spring and an electrical damper, respectively. The impedance model method is used to transform the flexible manipulator to a coupled system between a single contact mass at the driving position and a series of noncontact masses each of which is connected to the contact mass via a resilient member. This method is applicable whenever the driving point response of such a manipulator is available. Experimental work is presented to support the theory developed.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available