Endo, Takahiro (Gifu Univ.), Matsuno, Fumitoshi (The Univ. of Electro-Communications)

Force Control of Flexible Arm by Using Only Bending Moment Information

Scheduled for presentation during the Mini-Symposium "Distributed Parameter Systems-III: Control of Partial Differential Equations" (WeA06), Wednesday, July 26, 2006, 11:15−11:40, Room G

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

Research of flexible arm has been traditionally focused on vibration or tip position control. On the other hand the flexible arm essentially has a large compliance in contrast with the rigid arm. Therefore it seems that the flexible arm works well for the force control. In this paper we discuss force control problem for a constrained one-link flexible arm based on distributed parameter model. In order to solve the force control problem, we propose a simple feedback controller which is constructed by using only bending moment at the root of the flexible arm. The striking point is that information about the force and the rotational angle of the motor is not necessary for implementation of the controller. Therefore we do not need force sensor and encoder. Then it provides the asymptotic stability of the closed-loop system. As the controller is derived based on the distributed parameter model, we can avoid the drawbacks resulting from finite dimensional approximation.