Automation and cybernetics: Control of a flexible one-link manipulator
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Data
1996-01-01
Autores
GamarraRosado, V. O.
Fernandez, G.
Grieco, J. C.
Armada, M.
Aliane, N.
Título da Revista
ISSN da Revista
Título de Volume
Editor
Mcb Univ Press Ltd
Resumo
States that control is of the essence in cybernetics. Summarizes the dynamic equations for a flexible one-link manipulator moving in the horizontal plane. Employs the finite element method, based on elementary beam theory, during the process of formulation. Develops and instruments a one-link flexible manipulator in order to control its vibration modes. Uses a simple second-order vibration model which permits vibrations on the rod to be estimated using the hub angle. The validation of the dynamic model and the structural analysis of the flexible manipulator is reached using proper infrared cameras and active light sources for determining actual positions of objects in space. Shows that the performance of the control is satisfactory, even under perturbation action.
Descrição
Palavras-chave
advanced manufacturing technologies, automated operations, control, cybernetics, robotics
Como citar
Kybernetes. Bradford: Mcb Univ Press Ltd, v. 25, n. 5, p. 38-&, 1996.