End Point Force Control of a Flexible Timoshenko Arm

• 作者: Kojiro Matsushita Kouki Nagaya Minoru Sasaki Satoshi Ito Takahiro Endo
• 来源期刊: 电脑和通信(英文)
• 学科: 数学
• 关键词: FLEXIBLE ARM TIMOSHENKO Beam Theory Force CONTROL Distributed Parameter Systems CONTROL LAPLACE TRANSFORM
• 年，卷（期）: 2015,（11）
• 页码范围: 106-112
• 页数: 7页
• 分类号: O1

摘要

This paper discusses a force control problem for a flexible Timoshenko arm. The effect of shear deformation and the effect of rotary inertia are considered in Timoshenko beam theory. Most of the research about force control of the flexible arm is based on Euler Bernoulli beam theory. There are a few researches about force control of the flexible arm using Timoshenko beam theory. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple controller using Timoshenko beam theory. Finally, we describe simulation results using a numerical inversion of Laplace transform carried out to investigate the validity of the proposed controller for the force control problem. The results of the time response show the transverse displacement, the angle of deflection, the slider position, the rotational angle and the contact force toward the desired their values.