Contact-Force Control of a Flexible Timoshenko Arm

Contact-Force Control of a Flexible Timoshenko Arm

This technical note discusses a contact-force control problem for a flexible arm. This flexible arm includes a Timoshenko beam, and thus we call it the flexible Timoshenko arm. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simp...

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Veröffentlicht in:IEEE transactions on automatic control 2017-02, Vol.62 (2), p.1004-1009
Hauptverfasser: Endo, Takahiro, Sasaki, Minoru, Matsuno, Fumitoshi
Format: Artikel
Sprache:eng
Schlagworte:
Actuators
Closed loop systems
Contact force
Control stability
Controllers
Distributed parameter systems
Dynamics
exponentially stable
Feedback control
flexible arm
Force
Force control
Hilbert space
Timoshenko beam
Timoshenko beams
Vibration control
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Beschreibung
Zusammenfassung:This technical note discusses a contact-force control problem for a flexible arm. This flexible arm includes a Timoshenko beam, and thus we call it the flexible Timoshenko arm. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple boundary controller and show the exponential stability of the closed-loop system by the frequency domain method. Finally, we describe simulation results carried out to investigate the validity of the proposed controller for the force control problem.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2016.2569432