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Arbitrary Angular Displacement of Single Flexible Arm Using Mirrored Trajectory Planning

[+] Author Affiliations
Tung-Yung Huang, Jen-Chieh Tsao, Chi-Wei Huang

Southern Taiwan University, Tainan, Taiwan

Paper No. IMECE2010-38482, pp. 991-1000; 10 pages
doi:10.1115/IMECE2010-38482
From:
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME

abstract

This paper aims at planning the trajectory of an arbitrary angular displacement of single flexible arm to eliminate the residual flexural vibration. Though the concept of neutral points of flexural vibration was proposed, the strategy hasn’t been really extended to arbitrary angular displacement yet. Recently, the rest-to-rest motion for arbitrary angular displacement has been successfully dealt with different schemes; however, the flexible beam’s dynamic model wasn’t used to deduce their rules. This paper proposed to use mirror phenomenon to physically interpret the coincidence of half travel and a neutral point, and thereby deduce the trajectory planning scheme based on the flexural vibration model. The symmetric T-curve velocity profile is chosen to make the approach general. Having the angular acceleration fixed in the T curve, the trajectory planning problem reduces to the duration adjustment problem of the T-curve for the desired displacement with the imposed constraint of half travel at a neutral point. The simulation results demonstrate that a properly mirrored trajectory may successfully counteract the flexural vibration even tracking is made by a simple PD controller.

Copyright © 2010 by ASME

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