Control and Analysis of a Single-Link Flexible Beam with Experimental Verification

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The objective of this report is to ascertain the general conditions for the avoidance and reduction of residual vibration in a flexible manipulator. Conventional manipulators usually have a 1.5 to 2-m reach, and their associated dynamic models typically are composed of lumped parameter elements; the major compliance emanates from the, drive trains because of torsional loading effects. The energy storage of the drive system is predominantly potential energy because of the low inertia in the drive tram; thus simple spring models have been adequate. A long-reach manipulator with a large aspect ratio (length to diameter) is a fundamentally different problem. ... continued below

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28 pages

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Jansen, J.F. January 1, 1992.

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Description

The objective of this report is to ascertain the general conditions for the avoidance and reduction of residual vibration in a flexible manipulator. Conventional manipulators usually have a 1.5 to 2-m reach, and their associated dynamic models typically are composed of lumped parameter elements; the major compliance emanates from the, drive trains because of torsional loading effects. The energy storage of the drive system is predominantly potential energy because of the low inertia in the drive tram; thus simple spring models have been adequate. A long-reach manipulator with a large aspect ratio (length to diameter) is a fundamentally different problem. Energy storage for this type of manipulator is distributive by nature because of the potential energy resulting from bending and the kinetic energy due to deflection rates. Instead of ordinary differential equations, partial differential equations are required to describe this system, making the analysis more difficult. The general flexibility problem associated with a distributive dynamic system, with specific emphasis on flexible manipulator, will be addressed in this report. Furthermore, three control schemes will be discussed and demonstrated on, a single flexible manipulator to determine their general merits.

Physical Description

28 pages

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  • Other Information: PBD: 1 Jan 1992

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  • Report No.: ORNL/TM-12198
  • Grant Number: AC05-00OR22725
  • DOI: 10.2172/814396 | External Link
  • Office of Scientific & Technical Information Report Number: 814396
  • Archival Resource Key: ark:/67531/metadc733695

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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Creation Date

  • January 1, 1992

Added to The UNT Digital Library

  • Oct. 18, 2015, 6:40 p.m.

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  • March 31, 2016, 12:48 p.m.

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Jansen, J.F. Control and Analysis of a Single-Link Flexible Beam with Experimental Verification, report, January 1, 1992; United States. (digital.library.unt.edu/ark:/67531/metadc733695/: accessed November 24, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.