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タイトル: Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment
著者: Endo, Takahiro  kyouindb  KAKEN_id
Sasaki, Minoru
Matsuno, Fumitoshi
Jia, Yingmin
著者名の別形: 遠藤, 孝浩
松野, 文俊
キーワード: Distributed parameter systems
Flexible arm
Timoshenko beam
Force control
Stability
発行日: May-2017
出版者: Institute of Electrical and Electronics Engineers (IEEE)
誌名: IEEE Transactions on Automatic Control
巻: 62
号: 5
開始ページ: 2546
終了ページ: 2553
抄録: This paper discusses a contact-force control problem of a one-link flexible arm. This flexible arm includes a Timoshenko beam, and thus we call it the flexible Timoshenko arm. The primary aim is to control the contact force at the contact point. To do so, we first apply our previously proposed force controller, which exponentially stabilizes the closed-loop system of a flexible Euler-Bernoulli arm, to the force-control problem of the flexible Timoshenko arm. We then show that our previously proposed force controller cannot exponentially stabilize the flexible Timoshenko arm. Next, we consider the flexible Timoshenko arm, which is making contact with a soft environment. By utilizing the damping force in the soft environment, as well as the controller, we try to overcome the problem. We then prove the exponential stability of the closed-loop system. Finally, we provide simulation results, and consider the validity of our force controller.
著作権等: © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。
URI: http://hdl.handle.net/2433/232624
DOI(出版社版): 10.1109/tac.2016.2599434
出現コレクション:学術雑誌掲載論文等

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