제어로봇시스템학회:학술대회논문집
- 2001.10a
- /
- Pages.121.2-121
- /
- 2001
A Study on the Tip Position Control of Flexible Beam by Linear Matrix Inequality
- Kim, Chang-Hwa (Kyungnam College of Information & Technology) ;
- Chu, Man-Suk (Dongseo Univ.) ;
- Yang, Joo-Ho (Pukyong National Univ.)
- Published : 2001.10.01
Abstract
Many of today´s robot are required to perform tasks which demand a high level of accuracy in end-effector positioning. Those rigid robots are very inefficient and slow because its have large and heavy links, In an attempt to solve these problems, a robots using flexible beam were created. But the single-link flexible beam is infinite-dimensional system. Many researchers have proposed controlling such a beam an approximated model consisting of a finite a number of models. In this paper, we start by deriving the analytic model for the dynamics of general single-link beam, and a controller is designed for flexible beam with integral type servo system bases of the linear matrix inequality (LM) technique. To the end, simulation results show that a designed controller guarantees affective vibration control the single-link flexible beam.
Keywords