We present an experimental validation of a recently proposed solution to the problem of finding the input torque command that provides rest-to-rest motion in a given time for a one-link flexible arm. The basic idea is to design an auxiliary output such that the associated input-output transfer function has no zeros. Planning a smooth interpolating trajectory for this output imposes a unique rest-to-rest motion to the whole arm, with automatically bounded link deformations. The nominal torque is then obtained by standard inverse dynamics computation. The method is presented for a linear model of an Euler-Bernoulli flexible beam, satisfying dynamic boundary conditions and taking into account also modal damping. We illustrate the dynamic identification of the experimental flexible arm, the handling of static/viscous joint friction within the proposed method, and the way to include a stabilizing feedback based only on joint measurements. Finally, we report on comparative experimental results.


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    Titel :

    Experiments on Rest-to-rest Motion of a Flexible Arm


    Beteiligte:
    Siciliano, Bruno (Herausgeber:in) / Dario, Paolo (Herausgeber:in) / De Luca, Alessandro (Autor:in) / Caiano, Valerio (Autor:in) / Del Vescovo, Dionisio (Autor:in)


    Erscheinungsdatum :

    2003-06-30


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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