Analysis and Control of a Flexible Robot Arm by using Experimental Modal Analysis

A new control method for positioning the end effector of a flexible robot arm has been developed using experimental modal analysis. Based on the fact that robotic motion can be described by transfer functions between the input and the output at the representative positions of the piecewise linearize...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 58; no. 556; pp. 3649 - 3654
Main Authors MORIMOTO, Yoshitaka, INAMURA, Toyoshiro, YASUI, Takeshi
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 1992
Subjects
Dynamic Control
Experimental Modal Analysis
Experimental Transfer Functions
Flexible Robot
Fourier Transform
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Summary:A new control method for positioning the end effector of a flexible robot arm has been developed using experimental modal analysis. Based on the fact that robotic motion can be described by transfer functions between the input and the output at the representative positions of the piecewise linearized section, prediction of motion and control of motion have been achieved with good results. In this study, the following three themes are discussed : 1) a new method which advances previous methods, 2) prediction of motion by a new method and its comparison with experiments, 3)experimental results of motion-control designed smooth motion.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.58.3649