Dissertation/Thesis Abstract

A Finite Element Method for Linear Modeling and Control of a Single Flexible Link Robotic Manipulator
by Trutter, H. Benjamin, M.S., Southern Illinois University at Edwardsville, 2014, 111; 1560924
Abstract (Summary)

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

Indexing (document details)
Advisor: KRAUSS, RYAN W.
Commitee: GU, KEQIN, KWEON, SOONDO
School: Southern Illinois University at Edwardsville
Department: Mechanical and Industrial Engineering
School Location: United States -- Illinois
Source: MAI 53/03M(E), Masters Abstracts International
Source Type: DISSERTATION
Subjects: Electrical engineering, Mechanical engineering, Robotics
Keywords: Control, Finite element method, Flexible, Mainpulator, Robotic, Slewing beam
Publication Number: 1560924
ISBN: 9781321048001
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