Experimental validation of a 2 degrees of freedom whisker sensor dynamic model

Castillo-Berrio, Claudia F.; Feliu-Batlle, Vicente; Castillo-García, Fernando J.

doi:10.3182/20110828-6-it-1002.02360

Cited by 4 publications

(6 citation statements)

References 13 publications

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“…Similar dynamic models of the mechanism have been used in previous works (Castillo-Berrio et al, 2011a, 2011b, 2014b. A short explanation of the Lagrange method used to obtain the dynamics model can be found in the Appendix.…”

Section: Lumped Parameters Dynamic Model Of the Flexible Beammentioning

confidence: 99%

“…A reduced dynamic model is used in this work, which was obtained by means of the Lagrange equations and system energies, as explained in previous works (Castillo-Berrio et al, 2011a, 2011b. The flexible beam is modelled as an Euler-Bernoulli beam and it is regarded as homogeneous.…”

Section: Lumped Parameters Dynamic Model Of the Flexible Beammentioning

confidence: 99%

“…The controller for the flexible beam was developed on the basis of a reduced-order model with lumped parameters of the beam dynamics, which was validated previously (Castillo-Berrio et al, 2011a, 2011b, 2012, 2014a. This proved to be useful for a model-based linearization minimizing the flexural beam vibration.…”

Section: Introductionmentioning

confidence: 98%

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A study on the tip tracking control of a single flexible beam

Castillo-Berrio

Engin

Feliu-Batlle

2016

Transactions of the Institute of Measurement and Control

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This sequential paper aims to present studies on modelling and tip tracking control of a flexible single beam. It first outlines the flexible-beam robotic mechanism that was designed and built to be used for the force and torque sensory information-based modelling and control. It then details the vibration suppression controller strategy that is applied to this robotic system. The controller is designed with respect to a simple lumped model describing the dynamics of the system. Here the dynamics of the closed-loop controlled motor is inverted in order to obtain a system with unity dynamics. Further, the flexible-beam dynamics is input state linearized. Finally, a simple external feedback control, which is based on the measurements of beam deflections using a force and torque sensor, is implemented. The complete experimental setup was positioned by two servo-motors controlled by a proportional-integral-derivative controller for each axis. The proposed controllers allow the flexible beam to move continuously in a precise manner, so that it could be treated as an accurate positioning sensor. Simulation and experimental results provided at the end illustrate that the controllers designed and implemented produce a satisfactory control performance and adequate robustness to model uncertainties and system nonlinearities.

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Section: Lumped Parameters Dynamic Model Of the Flexible Beammentioning

confidence: 99%

Section: Lumped Parameters Dynamic Model Of the Flexible Beammentioning

confidence: 99%

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A study on the tip tracking control of a single flexible beam

Castillo-Berrio

Engin

Feliu-Batlle

2016

Transactions of the Institute of Measurement and Control

Self Cite

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show abstract

“…But we have verified that the effect of the Based on the previous analysis, we assume that our sensing antenna can be modelled as a massless flexible link with a lumped mass at its tip. Then a relatively simple nonlinear multivariable model can be obtained for our 2 DOF antenna with azimuthal and attitude movements (Castillo et al (2011a)…”

Section: Antenna Featuresmentioning

confidence: 99%

“…We have carried out some previous research on position control of antennas: in Castillo et al (2011a) the link of a robotic antenna was modeled assuming a lumped mass model, in Castillo et al (2011b) the vibrations of the antenna flexible-link were reduced using an open-loop control based on the dynamic inversion, and in Feliu et al (2013) the vibrations of the antenna were reduced using a simpler openloop control based on the input shaping technique (IS). As IS are filters designed to remove vibrations in linear systems (the method relies in the additive property of these systems), and our antenna is highly nonlinear, this control did not perform too well in trajectories that involved elevation movements.…”

Section: Introductionmentioning

confidence: 99%