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Proceedings Paper

Stability properties of vision-based controlled flexible arm
Author(s): Shuxin Wang; Jianlong Song; Zhi Liu; Morel Guillaume
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Paper Abstract

For vision-based controlled flexible arm, the camera and driving motor are located at different locations, that is, noncollocated control system. The stability will not be guaranteed. Therefore, simplified finite dimensional dynamic models of flexible arm will be developed for the purpose of controller design based on Kane¡¯s equations and Euler-Berneuli theory. This paper addresses the issue of selecting the shape and mode in developing finite order models and designs suitable PID controller for a flexible arm with vision-based control. Results show that designed controller can match the requirements for vision-based controlled flexible arm when the influence of the dead band will be eliminated.

Paper Details

Date Published: 18 September 2001
PDF: 6 pages
Proc. SPIE 4556, Data Mining and Applications, (18 September 2001); doi: 10.1117/12.440284
Show Author Affiliations
Shuxin Wang, Tianjin Univ. (China)
Jianlong Song, Tianjin Univ. (China)
Zhi Liu, Tianjin Univ. (China)
Morel Guillaume, Electricite de France (France)


Published in SPIE Proceedings Vol. 4556:
Data Mining and Applications

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