Control and analysis of a single-link flexible beam with experimental verification. Robotics Technology Development Program.

摘要

The objective of this report is to ascertain the general conditions for the avoidance and reduction of residual vibration in a flexible manipulator. Conventional manipulators usually have a 1.5 to 2-m reach, and their associated dynamic models typically are composed of lumped parameter elements; the major compliance emanates from the drive trains because of torsional loading effects. The energy storage of the drive system is predominantly potential energy because of the low inertia in the drive train; thus simple spring models have been adequate. A long-reach manipulator with a large aspect ratio (length to diameter) is a fundamentally different problem. Energy storage for this type of manipulator is distributive by nature because of the potential energy resulting from bending and the kinetic energy due to deflection rates. Instead of ordinary differential equations, partial differential equations are required to describe this system, making the analysis more difficult. The general flexibility problem associated with a distributive dynamic system, with specific emphasis on flexible manipulator, will be addressed in this report. Furthermore, three control schemes will be discussed and demonstrated on a single flexible manipulator to determine their general merits.