Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Collision Detection and Control of a Single-link Flexible Arm
Yuichi SAWADA
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2006 Volume 19 Issue 6 Pages 250-261

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Abstract

Damage avoidance of the flexible manipulators in collision with unlooked-for obstacle is a significant problem in industry and space programs. This paper presents a method of control for reducing damage and/or undesirable vibration of the single-link flexible arm due to collision. The detection of the collision is carried out using the detection function which was proposed recently by the author. The controller is designed to have twofold manner : i) to control the position and vibration of the flexible arm; and ii) to suspend the position control and to minimize the deformation and vibration of the arm whenever any collision has been detected. Numerical simulations and experiments are provided.

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