抄録
In this paper, we discuss modeling and robust bending and torsional vibrations, and contact force control of a constrained flexible arm. By using Hamilton's principle an ordinary differential equation of a joint angle and distributed parameter systems of vibration equations are derived. As the obtained boundary conditions are nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. By solving the eigenvalue problem related to DPS, eigenvalues and corresponding eigenfunctions are obtained. A robust controller should be constructed to compensate the spillover instability caused by residual modes, which are neglected at the controller design phase. To demonstrate the validity of the derived model and the effectiveness of the proposed controller, experiments have been carried out.
