Robust control of a shape-changing flexible robot arm

Erin S. Catto; Francis C. Moon

doi:10.1117/12.208255

8 May 1995 Robust control of a shape-changing flexible robot arm

Erin S. Catto, Francis C. Moon

Proceedings Volume 2443, Smart Structures and Materials 1995: Smart Structures and Integrated Systems; (1995) https://doi.org/10.1117/12.208255
Event: Smart Structures and Materials '95, 1995, San Diego, CA, United States

Abstract

We investigate the robust vibration control of an elastic robot arm. This robot arm, called the Elasticarm, is a new design that exploits the flexibility of a beam to generate motion that usually requires an elbow. Shape control is accomplished using a system of cables and motors. The resulting structure exhibits lightly damped, large-scale vibrations. The vibration control problem for the Elasticarm is challenging because the natural frequencies depend on the static shape of the beam. In this paper we compare two simple controllers that are designed to be insensitive to plant uncertainty and to offer satisfactory performance. The first controller is an H_(infinity ) design using an imaginary axis shift. The second controller uses direct strain feedback to increase vibration damping. Experimental results show that both controllers maintain adequate performance across a wide range of configurations.

Citation Download Citation

Erin S. Catto and Francis C. Moon "Robust control of a shape-changing flexible robot arm", Proc. SPIE 2443, Smart Structures and Materials 1995: Smart Structures and Integrated Systems, (8 May 1995); https://doi.org/10.1117/12.208255

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available