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CONTROL OF THE MECHATRONIC SYSTEM WITH FLEXIBLE ROTATING LINK: THEORY AND EXPERIMENT

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The paper discusses modeling and control of mechatronic systems with flexible links, which are widely used for manipulation tasks. At the first stage, a dynamic model of a mechatronic system with a flexible rotational link was obtained based on the Euler-Lagrange equations and the method of the assumed modes. The resulting model has finite dimensionality and can be easily adopted for simulation in order to study the dynamic characteristics of the system and further for trajectories planning and motion control. The algorithm for calculating feedforward control is presented, which enables transition of the link in a horizontal plane from the starting configuration to a given configuration in a finite time. In this case there is minimization of undesirable deformations at the end points of the trajectory caused by the elasticity of the link. The paper presents the results of the algorithm experimental verification on the mechatronic setup Quanser Rotary Flexible Link. The experiments demonstrated that the control goal is achieved for different rotation velocities, as well as they show a match between simulation and experimental results

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