A fundamental limitation on the control of end-point force in a very flexible single-link arm

Title: A fundamental limitation on the control of end-point force in a very flexible single-link arm
Creator: Bazaei, A.; Moallem, M.
Relation: Journal of Vibration and Control Vol. 18, Issue 8, p. 1207-1220
Publisher Link: http://dx.doi.org/10.1177/1077546311421513
Publisher: Sage
Resource Type: journal article
Date: 2012
Description: In this paper, a phenomenon is presented that severely restricts control of end-point force via actuation at the other end in a constrained very flexible single-link arm. This limitation is different from and can be more severe than its known non-minimum-phase characteristic. The link flexibility, contact compliance, and stick–slip friction forces at the hub and end-point areas are incorporated into a unique dynamic model and individual effects of friction forces at the hub and the tip on the control performance are investigated. Experimental results are presented to verify the phenomenon and evaluate the validity of the proposed model.
Subject: force control; stick-slip friction; very flexible link
Identifier: http://hdl.handle.net/1959.13/1301948
Identifier: uon:20376
Identifier: ISSN:1077-5463
Language: eng
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