Implementation of Dynamic Control of a Single-Link Flexible Arm Using a General Micro-Computer

摘要

The purpose of this thesis is the implementation of a dynamic control of a single-link flexible arm and experimentation with various parameters to study the dynamic behavior of the control system. The tip position was determined by the outputs of a potentiometer and a strain gage. Data acquisition was performed using Data Translation high speed interface board (DT 2821-F-8DI). The board supports sixteen twelve bit A/D input channels with a maximum usable sampling rate of 130 kilohertz. The micro-computer used was the standard IBM AT. The support software (AT0-LAB) allowed direct manipulation of the data acquisition board through the use of provided subroutines which were compatible with FORTRAN, the language chosen to implement the controller. Keywords: High speed; Low weight. (KR)