Modeling and analysis of dynamic contact point sensing by a flexible beam

M. M. Svinin, N. Ueno, M. Kaneko, T. Tsuji

研究成果: ジャーナルへの寄稿会議記事査読

2 被引用数 (Scopus)

抄録

A dynamic active antenna sensor for locating a contact point is considered in this paper. In its simpliest realization the sensor can be implemented in the form of a flexible beam rotating in plane. The main feature of the sensor is the use of the frequency-contact point curve which, for some regions, may be a multi-valued function. One way of 'improving' the curve could be concerned with the non-uniform mass and stiffness distribution of the beam, which would lead to a rather complicated sensor design. Another way to remedy the situation is to change the sensing strategy by adding a proper control action at the joint of the beam. To study the sensor's response to the control, a dynamic model of the beam in contact with the external environment is developed. Analysis of the frequency equation shows how a simple proportional control law changes the sensing curve. It is found that in some limiting, but practically attainable cases the sensing curve becomes a single-valued function. Thus, the solution proposed can significantly simplify the identification procedure.

本文言語英語
ページ(範囲)1681-1686
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2
出版ステータス出版済み - 1996
外部発表はい
イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
継続期間: 4月 22 19964月 28 1996

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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