Analysis of poles and zeros for tapered link designs

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Title: Analysis of poles and zeros for tapered link designs
Author: Girvin, Douglas L. ; Book, Wayne John
Abstract: This chapter analyzes the pole and zero locations of a linearly-tapered Euler-Bernoulli beam pinned at one end and free at the other end. Of particular interest is the location of zeros of the transfer function from torque applied at the pin to displacement of the free end. When tapered beams are used as the links of light-weight robots, the existence of non minimum phase (right half plane) zeros complicates the robot control problem. Tapering the beam gives the robot designer an additional design parameter when establishing the flexible dynamics. The pole and zero locations are determined from a transfer matrix model which is the exact solution for a uniform beam. The approximate results for a tapered model result from segmentation of the beam into segments of different but constant cross sections. The relative position of poles and zeros varies significantly as the rate of taper changes, which will have consequences on feedback stability and noncausal effects in inverse dynamics.
Type: Book chapter
ISBN: 9812383905
Citation: Girvin, Douglas L. and W.J. Book, “Analysis of poles and zeros for tapered link designs,” Series in intelligent control and intelligent automation. Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control, and Applications, World Scientific Press, Fei-Yue Wang, ed-in-chief. 2003.
Date: 2003
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
World Scientific Press
Subject: Robotics
Tapered beams
Transfer matrix models

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