Application of suboptimal control to a flexible manipulator

Agamemnon L. Crassidis; Thomas J. Meyer; Roger W. Wayne; D. Joseph Mook

Application of suboptimal control to a flexible manipulator

Agamemnon L. Crassidis
, Thomas J. Meyer
, Roger W. Wayne
, D. Joseph Mook

Department of Mechanical and Aerospace Engineering

SUNY Buffalo

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper investigates the performance and behavior of a slewing motor-beam system with Coulomb friction using various control methods. A model of the system is described which includes a finite element representation for the beam, dynamic interaction between the motor and the beam, and a representation for Coulomb friction. The model is used in the study of closed-loop transient response of the slewing system. The model reasonably predicts the observed slewing behavior. It simulates steady state error in the control of slewing angle and can represent the case of shaft lock-up which leaves the beam oscillating freely. Feedback controller laws developed did not require the use of beam information, yet provided desirable system response.

Original language	English
Pages (from-to)	1915-1922
Number of pages	8
Journal	Collection of Technical Papers - AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
Volume	4
State	Published - 1994
Event	Proceedings of the 35th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Part 1 (of 5) - Hilton Head, SC, USA Duration: Apr 18 1994 → Apr 20 1994

Cite this

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title = "Application of suboptimal control to a flexible manipulator",

abstract = "This paper investigates the performance and behavior of a slewing motor-beam system with Coulomb friction using various control methods. A model of the system is described which includes a finite element representation for the beam, dynamic interaction between the motor and the beam, and a representation for Coulomb friction. The model is used in the study of closed-loop transient response of the slewing system. The model reasonably predicts the observed slewing behavior. It simulates steady state error in the control of slewing angle and can represent the case of shaft lock-up which leaves the beam oscillating freely. Feedback controller laws developed did not require the use of beam information, yet provided desirable system response.",

author = "Crassidis, \{Agamemnon L.\} and Meyer, \{Thomas J.\} and Wayne, \{Roger W.\} and Mook, \{D. Joseph\}",

year = "1994",

language = "English",

volume = "4",

pages = "1915--1922",

journal = "Collection of Technical Papers - AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference",

issn = "0273-4508",

publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)",

note = "Proceedings of the 35th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Part 1 (of 5) ; Conference date: 18-04-1994 Through 20-04-1994",

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TY - JOUR

T1 - Application of suboptimal control to a flexible manipulator

AU - Crassidis, Agamemnon L.

AU - Meyer, Thomas J.

AU - Wayne, Roger W.

AU - Mook, D. Joseph

PY - 1994

Y1 - 1994

N2 - This paper investigates the performance and behavior of a slewing motor-beam system with Coulomb friction using various control methods. A model of the system is described which includes a finite element representation for the beam, dynamic interaction between the motor and the beam, and a representation for Coulomb friction. The model is used in the study of closed-loop transient response of the slewing system. The model reasonably predicts the observed slewing behavior. It simulates steady state error in the control of slewing angle and can represent the case of shaft lock-up which leaves the beam oscillating freely. Feedback controller laws developed did not require the use of beam information, yet provided desirable system response.

AB - This paper investigates the performance and behavior of a slewing motor-beam system with Coulomb friction using various control methods. A model of the system is described which includes a finite element representation for the beam, dynamic interaction between the motor and the beam, and a representation for Coulomb friction. The model is used in the study of closed-loop transient response of the slewing system. The model reasonably predicts the observed slewing behavior. It simulates steady state error in the control of slewing angle and can represent the case of shaft lock-up which leaves the beam oscillating freely. Feedback controller laws developed did not require the use of beam information, yet provided desirable system response.

UR - https://www.scopus.com/pages/publications/0028713728

M3 - Conference article

AN - SCOPUS:0028713728

SN - 0273-4508

VL - 4

SP - 1915

EP - 1922

JO - Collection of Technical Papers - AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference

JF - Collection of Technical Papers - AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference

T2 - Proceedings of the 35th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. Part 1 (of 5)

Y2 - 18 April 1994 through 20 April 1994

ER -

Application of suboptimal control to a flexible manipulator

Abstract

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