Force control of a constrained one‐link flexible arm : A distributed‐parameter modeling approach

2003 ◽  
Vol 26 (4) ◽  
pp. 443-454 ◽  
Author(s):  
Liang‐Yih Liu ◽  
King Yuan
Keyword(s):  
Force Control ◽  
Distributed Parameter ◽  
Modeling Approach ◽  
Flexible Arm ◽  
Distributed Parameter Modeling

Force Control of a Distributed-Parameter Flexible Arm via Parallel Compensation

2011 ◽  
Vol 201-203 ◽  
pp. 1898-1906
Author(s):  
Liang Yih Liu ◽  
Hsiung Cheng Lin
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Stable Condition ◽  
Joint Torque ◽  
Distributed Parameter ◽  
Dimensional System ◽  
Minimum Phase ◽  
Force Output ◽  
Integral Control ◽  
Flexible Arm

In this paper, the force control of a constrained one-link flexible arm is fully studied based on a linear distributed parameter model, including the internal damping of Kelvin-Voight type. A new input induced by the joint angular acceleration and a virtual contact force output generated by a parallel compensator are defined. The inherent limitations due to the non-minimum phase nature of the noncollocation from the joint torque input and the tip contact force output can be thus resolved. Therefore, the transfer function from the new input to the virtual contact force is not only driven to a strictly minimum phase but also stable condition. The integral control is then used to improve the performance of the overall closed loop system. Also, the asymptotic tracking of a desired contact force trajectory can be achieved with the internal stability. On the other hand, the exact solutions in the infinite-dimensional system are reached using the infinite product formulation. Numerical performance results are provided to verify the effectiveness of the proposed approach in term of fast, stable and robust performance.

Force control of a very lightweight single-link flexible arm based on coupling torque feedback

Mechatronics ◽  
2009 ◽  
Vol 19 (3) ◽  
pp. 334-347 ◽  
Author(s):  
Ismael Payo ◽  
Vicente Feliu ◽  
Osvaldo Daniel Cortázar
Keyword(s):  
Force Control ◽  
Flexible Arm ◽  
Single Link

Distributed parameter modeling of fluid transmission lines

2021 ◽  
Vol 106 ◽  
pp. 155-172
Author(s):  
Ahmed Elkhashap ◽  
Daniel Rüschen ◽  
Dirk Abel
Keyword(s):  
Transmission Lines ◽  
Distributed Parameter ◽  
Distributed Parameter Modeling

scholarly journals Force Control of Flexible Arm Using Two-Degree-of-Freedom Control System.

1998 ◽  
Vol 64 (620) ◽  
pp. 1382-1389 ◽  
Author(s):  
Kouji OKUDA ◽  
Kazuyuki KUHARA ◽  
Minoru SASAKI ◽  
Fumio FUJISAWA
Keyword(s):  
Control System ◽  
Force Control ◽  
Degree Of Freedom ◽  
Flexible Arm ◽  
Two Degree Of Freedom
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