The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This report presents a new way to model and identify single-link flexible arms when Coulomb friction is present in the joint. In order to isolate the effects of this nonlinearity, the arm model is divided into two submodels: motor and beam. The two are coupled through the torque at the base of the beam.

A systematic methd is developed to obtain the dynamics of a lumped-mass flexible beam, and some properties are obtained from this model. The influence of the payload on the model is given special attention. This way of modelling is later extended to the general case of distributed-mass flexible arms.

Identification in the presence of Coulomb friction is carried out. A new method is proposed to estimate this friction and to estimate the motor frequency response from experimental results, which are highly distorted by this nonlinear friction. Experimental results are presented and, finally, conclusions are drawn.

Notes

Grant ID: #F33615-86-C-5-38

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

V. Feliu, K. S. Rattan, and H. Benjamin Brown, "A New Approach to Control Single-Link Flexible Arms," tech. report CMU-RI-TR-89-08, Robotics Institute, Carnegie Mellon University, March, 1989

BibTeX Reference

@techreport{Brown_1989_189,
   author = "V. Feliu and K. S. Rattan and H. Benjamin Brown",
   title = "A New Approach to Control Single-Link Flexible Arms",
   booktitle = "",
   institution = "Robotics Institute",
   month = "March",
   year = "1989",
   number= "CMU-RI-TR-89-08",
   address= "Pittsburgh, PA",
}

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