Dynamic Analysis of Noncollocated Flexible Arms and Design of Torque Transmission Mechanisms

A new actuation method for one-link flexible arms is presented. The endpoint control of a flexible arm has been known as a nonminimum phase system due to the noncollocated sensor and actuator. By relocating the actuator near the endpoint, the system can be modified to approximate a minimum phase system. In order to implement this, transmission mechanisms are developed which transform the actuator torque to a combination of force and torque and transmit them to an appropriate point on the arm link. Exact pole-zero configurations are analyzed with regard to the location of the actuation point and the type of actuator used. Guidelines for design of the transmission mechanisms and the actuation points are developed with respect to the operation bandwidth, stability and controllability. A prototype flexible arm is designed based on the design guidelines and open-loop and closed-loop tests are performed to verify the effectiveness.