Stability properties of vision-based controlled flexible arm

Shuxin Wang; Jianlong Song; Zhi Liu; Morel Guillaume

doi:10.1117/12.440284

18 September 2001 Stability properties of vision-based controlled flexible arm

Shuxin Wang, Jianlong Song, Zhi Liu, Morel Guillaume

Proceedings Volume 4556, Data Mining and Applications; (2001) https://doi.org/10.1117/12.440284
Event: Multispectral Image Processing and Pattern Recognition, 2001, Wuhan, China

Abstract

For vision-based controlled flexible arm, the camera and driving motor are located at different locations, that is, noncollocated control system. The stability will not be guaranteed. Therefore, simplified finite dimensional dynamic models of flexible arm will be developed for the purpose of controller design based on Kane¡¯s equations and Euler-Berneuli theory. This paper addresses the issue of selecting the shape and mode in developing finite order models and designs suitable PID controller for a flexible arm with vision-based control. Results show that designed controller can match the requirements for vision-based controlled flexible arm when the influence of the dead band will be eliminated.

Citation Download Citation

Shuxin Wang, Jianlong Song, Zhi Liu, and Morel Guillaume "Stability properties of vision-based controlled flexible arm", Proc. SPIE 4556, Data Mining and Applications, (18 September 2001); https://doi.org/10.1117/12.440284

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