TITLE:
End Point Force Control of a Flexible Timoshenko Arm
AUTHORS:
Minoru Sasaki, Kouki Nagaya, Takahiro Endo, Kojiro Matsushita, Satoshi Ito
KEYWORDS:
Flexible Arm, Timoshenko Beam Theory, Force Control, Distributed Parameter Systems Control, Laplace Transform
JOURNAL NAME:
Journal of Computer and Communications,
Vol.3 No.11,
November
19,
2015
ABSTRACT: This paper discusses a force
control problem for a flexible Timoshenko arm. The effect of shear deformation
and the effect of rotary inertia are considered in Timoshenko beam theory. Most
of the research about force control of the flexible arm is based on Euler
Bernoulli beam theory. There are a few researches about force control of the
flexible arm using Timoshenko beam theory. The aim of the force control is to
control the contact force at the contact point. To solve this problem, we
propose a simple controller using Timoshenko beam theory. Finally, we describe
simulation results using a numerical inversion of Laplace transform carried out
to investigate the validity of the proposed controller for the force control
problem. The results of the time response show the transverse displacement, the
angle of deflection, the slider position, the rotational angle and the contact
force toward the desired their values.