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Proceedings Paper

Robust control of a shape-changing flexible robot arm
Author(s): Erin S. Catto; Francis C. Moon
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Paper 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.

Paper Details

Date Published: 8 May 1995
PDF: 11 pages
Proc. SPIE 2443, Smart Structures and Materials 1995: Smart Structures and Integrated Systems, (8 May 1995); doi: 10.1117/12.208255
Show Author Affiliations
Erin S. Catto, Cornell Univ. (United States)
Francis C. Moon, Cornell Univ. (United States)


Published in SPIE Proceedings Vol. 2443:
Smart Structures and Materials 1995: Smart Structures and Integrated Systems
Inderjit Chopra, Editor(s)

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