Force control of a constrained one-link flexible arm with internal damping

勤益科大機構典藏 > 電資學院 > 電子工程系(所) > 【電子工程系所】期刊論文 > Item 987654321/6702

jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://ir.lib.ncut.edu.tw/handle/987654321/6702

题名:	Force control of a constrained one-link flexible arm with internal damping
作者:	林熊徵
贡献者:	電子工程(學)系
日期:	2011-02
上传时间:	2017-11-23 11:00:37 (UTC+8)
摘要:	In this paper, the contact force control of a constrained one-link flexible arm is fully investigated using a linear distributed parameter model including the internal damping of Kelvin-Voight type. To overcome the inherent limitations caused by the non-minimum phase nature of the noncollocation of the joint torque input and the contact force output, a minimum phase transfer function is deduced by using the feedback and the output redefinition. A PD controller is then designed to accomplish the regulation of the contact force. Therefore, asymptotic tracking of a desired contact force trajectory with internal stability can be achieved. With the infinite product of transcendental functions, exact solutions of the noncollocated infinite-dimensional closed-loop force control system can be obtained so that it is free from spillover problems with stability robustness to parameter uncertainties. Numerical simulations are provided to verify the effectiveness of the proposed approach.
關聯:	Advanced Materials Research
显示于类别:	[電子工程系(所)] 【電子工程系所】期刊論文

文件中的档案:

没有与此文件相关的档案.

检视Licence

在NCUTIR中所有的数据项都受到原著作权保护.