Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques | Zendy

Wayne J. Book | Zendy; Mark W. Majette | Zendy

Open Access

Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques

Author(s) -

Wayne J. Book,

Mark W. Majette

Publication year - 1983

Publication title -

journal of dynamic systems measurement and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.528

H-Index - 89

eISSN - 1528-9028

pISSN - 0022-0434

DOI - 10.1115/1.3140666

Subject(s) - control theory (sociology) , representation (politics) , frequency domain , variable (mathematics) , state space representation , control engineering , controller (irrigation) , computer science , modal , state space , state variable , domain (mathematical analysis) , engineering , control (management) , mathematics , algorithm , artificial intelligence , physics , mathematical analysis , agronomy , chemistry , statistics , politics , political science , polymer chemistry , law , computer vision , biology , thermodynamics

© 1983 ASMEDOI: 10.1115/1.3140666The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results

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