Professional Documents
Culture Documents
INTRODUCTION
SIMULATION OF FLEXIBLE
MANIPULATOR SYSTEMS
UKACC International Conferenceon CONTROL 96,2-5 September 1996, ConferencePublication No. 427 0IEE 1996
21 1
(1)
where
EIAt2
D,At
4EIAt2
a=2-- 6E1At2 , b=-, c=- pb4 , d = Pb4
Ph4
Pb2
P
Figure 1: Schematic representation of the flexible
manipulator system.
YOJ = o
(4)
a3y(z,t )
M,--a2Y(z,t ) EI-=O
ax2
ax3
212
in-1
&
p
Memory
Sum.
buffer
zero delay
Figure 2: Simulink
representation
manipulator system.
of
flexible
Fdarm
data
control
yo ut
Clock
213
-gauQian ilp
simulink
G
I
data
storage
To Workspace
control
Q)
gauss
30
25
-0
0.5
1.5
Time (sec.)
CONTROL METHODS
5
Time (sec.)
214
25-
20-
i15-
FD arm
w pass
data
controll
1 ylowe Istorage
out
To Workspace
:lo-
@
~
5-
lowe
0.5
1.5
Time (sec.)
20-
g15-
E
e
8
t
510-
5-
0.5
1.5
1
Time (sec.)
1toque
'p
bang bang
out
Band s d p
butterworth
amodes
y+JE+@
J
FD arm
lybandbd storage
CONCLUSION
data
To Workspace
6,
bs3b
215
REFERENCES