The DOI matches its Crossref record.
Modeling and feedback control of a flexible arm
Abstract
When a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested as soon as possible at the end of rotation. In this paper, we first derive a partial differential equation and a set of boundary conditions governing the vibration. Then, a feedback control system which incorporates a dynamic compensator is designed using sensor outputs. A set of experiments has been constructed to demonstrate control strategies for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. Several satisfactory experimental results are shown.
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Citations
Cited by
Dynamic analysis of flexible manipulators, a literature review
Dwivedy, S. K., & Eberhard, P. (2006) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2006.01.014 · Cited by 870
Dynamic analysis of casting and winding with hyper-flexible manipulator
Suzuki, T., Ebihara, Y., & Shintani, K. (2006) · ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005. · doi:10.1109/icar.2005.1507392 · Cited by 17
Metadata
- Authors
- Sakawa, Y., Matsuno, F., & Fukushima, S.
- Venue
- Journal of Robotic Systems
- Publisher
- Wiley
- Published
- 1985-12
- Volume
- 2
- Issue
- 4
- Pages
- 453-472
- ISSN
- 0741-2223 (ISSN-L)
- 1097-4563
- OpenAlex
- W1970412008
- Cited by
- 322
- References
- 0
- FWCI
- 10.53
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Modeling and feedback control of a flexible arm. https://app.cochat.ai/papers/10.1002/rob.4620020409
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- Sakawa, Y., Matsuno, F., & Fukushima, S. (1985). Modeling and feedback control of a flexible arm. Journal of Robotic Systems. https://doi.org/10.1002/rob.4620020409
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
