<p> A linear finite element procedure is presented for modeling a single flexible link robotic manipulator system. The model takes into consideration the DC motor, torsional springs/dampers, cantilever beam and the accelerometer at the tip. The finite element method for system modeling is validated through comparison to experimental data using the frequency response. With a validated model for the system, feedback control is implemented for vibration reduction and accurate positioning of the beam tip. The accuracy of the controlled model is compared to experiment and a discrete time transfer matrix method of modelling. The closed-loop finite element method model exhibited an accurate response, related to experiment, with encoder feedback and accelerometer feedback using digital compensators</p>
| Identifer | oai:union.ndltd.org:PROQUEST/oai:pqdtoai.proquest.com:1560924 |
| Date | 19 September 2014 |
| Creators | Trutter, H. Benjamin |
| Publisher | Southern Illinois University at Edwardsville |
| Source Sets | ProQuest.com |
| Language | English |
| Detected Language | English |
| Type | thesis |
Page generated in 0.0016 seconds