Person:
Book,
Wayne J.
Publication Search Results
Analysis of poles and zeros for tapered link designs
Robot vibrations
Person:
Book,
Wayne J.
1 - 2 of 2
Item
This chapter analyzes the pole and zero locations of a linearly-tapered Euler-Bernoulli beam pinned at one end and free at the other end. Of particular interest is the location of zeros of the transfer function from torque applied at the pin to displacement of the free end. When tapered beams are used as the links of light-weight robots, the existence of non minimum phase (right half plane) zeros complicates the robot control problem. Tapering the beam gives the robot designer an additional design parameter when establishing the flexible dynamics. The pole and zero locations are determined from a transfer matrix model which is the exact solution for a uniform beam. The approximate results for a tapered model result from segmentation of the beam into segments of different but constant cross sections. The relative position of poles and zeros varies significantly as the rate of taper changes, which will have consequences on feedback stability and noncausal effects in inverse dynamics.
No Thumbnail Available
Item
The nature of robotic arms invites vibratory behavior while the function of robotic arms is heavily penalized by that vibration. Consequently, understanding and compensating for the tendencies of a robot to vibrate are of great importance. Robotic vehicles have less tendency to vibrate, although mounting an arm on a vehicle introduces new sources of excitation and compliance and new penalties for the simple solution to vibration, that is, adding mass to rigidize the arm structure