By Mohamed F. Hassan and Said M. Megahed (Eds.)
Read Online or Download Current Advances in Mechanical Design and Production VII. Proceedings of the Seventh Cairo University International MDP Conference Cairo-Egypt February 15–17, 2000 PDF
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Extra resources for Current Advances in Mechanical Design and Production VII. Proceedings of the Seventh Cairo University International MDP Conference Cairo-Egypt February 15–17, 2000
Dyn. , Meas. 310-319, (1987). 8- Tomei, P, "A Simple PD Controller for Robots with Elastic Joints", IEEE Trans. Aut. 1208-1213, (1991). * *Assistant Professor, Prod. Eng. and Mech. Design Dept. , Mansoura University, Mansoura, Egypt. eg ABSTRACT An integrated structure/control strategy for design of high speed flexible robot arm is investigated. The application of time optimal control theory, to get the minimum traveling time of a flexible robot arm, results in a multi switch bang-bang control.
INTRODUCTION Industrial manipulators have been part of our lives for the last 30 years. They are taking charge of activities that are tedious, repetitive or dangerous for human operators. , which involve only point-topoint control, and more complex tasks such as arc welding, spray painting, mechanical and electronic assembly, etc. which often involve trajectory tracking control and force control. Applications have become more demanding and the manipulators are required to be smaller, lighter, faster and more precise.
Another way is averaging directly the viscous damping coefficients measured at different operating velocities. Both methods give close results. The second method is considered further because of its simplicity. 025 Nm see. It is clear that, the air damping is negligible for the flexible mode, because the deflection of the flexible mode is small . The state equations of the flexible arm is the same as equations (1)except matrix A which becomes: Current Advances in Mechanical Design and Production, MDP- 7 0 A= 1 0 0 i o 0 i 0 0 0 -co 2 51 (ll) where (z equals the damping coefficient (C) divided by moment of inertia of the arm (J).
Current Advances in Mechanical Design and Production VII. Proceedings of the Seventh Cairo University International MDP Conference Cairo-Egypt February 15–17, 2000 by Mohamed F. Hassan and Said M. Megahed (Eds.)