End-point control of a flexible-link manipulator: theory and experiments

1997 ◽  
Vol 5 (6) ◽  
pp. 556-570 ◽  
Author(s):  
H. Geniele ◽  
R.V. Patel ◽  
K. Khorasani
2001 ◽  
Author(s):  
Aurelio Piazzi ◽  
Antonio Visioli

Abstract In this paper we present a new method for the point-to-point motion control of the end-point of a single flexible link manipulator. The technique is based on an exact system inversion procedure, that allows to define a suitable motion law for the hub in order to reduce the residual vibration at the end of the tip motion. Thus, the end-point control is actually performed in open-loop, therefore avoiding the use of a sensor to measure the actual tip position. Experimental results demonstrate the effectiveness of the approach and that the overall control system is inherently robust to modelling errors.


2011 ◽  
Vol 396-398 ◽  
pp. 1119-1125
Author(s):  
Jian Hua Zeng ◽  
Wei He ◽  
Yong Chen ◽  
Hong Pan

Because of disadvantages of converter steelmaking with semi-steel in Panzhihua Steel, such as slow-footed slag forming, low rate of dephosphorization, high rate of rephosphorization after converter smelting, studies on increasing dephosphorization rate have been carried out. These studies comprise the optimization of slagging process, oxygen supply, bottom argon supply, end-point control of converter smelting, and so on. With these countermeasures, the rate of dephosphorization has been increased obviously. The results show that the average rate of dephosphorization is above 90% with single-slag process during converter smelting. Otherwise, content of phosphorus at the end-point of converter smelting can be controlled below 0.007%, and rephosphorization rate after converter smelting can be controlled below 0.003%, which meets the requirement of [P]≤0.010% for steel products.


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