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This paper discusses a forcecontrol problem for a flexible Timoshenko arm. The effect of shear deformationand the effect of rotary inertia are considered in Timoshenko beam theory. Mostof the research about force control of the flexible arm is based on EulerBernoulli beam theory. There are a few researches about force control of theflexible arm using Timoshenko beam theory. The aim of the force control is tocontrol the contact force at the contact point. To solve this problem, wepropose a simple controller using Timoshenko beam theory. Finally, we describesimulation results using a numerical inversion of Laplace transform carried outto investigate the validity of the proposed controller for the force controlproblem. The results of the time response show the transverse displacement, theangle of deflection, the slider position, the rotational angle and the contactforce toward the desired their values.


Flexible Arm, Timoshenko Beam Theory, Force Control, Distributed Parameter Systems Control, Laplace Transform

Cite this paper

Sasaki, M. , Nagaya, K. , Endo, T. , Matsushita, K. and Ito, S. 2015 End Point Force Control of a Flexible Timoshenko Arm. Journal of Computer and Communications, 3, 106-112. doi: 10.4236-jcc.2015.311017.

Autor: Minoru Sasaki1, Kouki Nagaya1, Takahiro Endo2, Kojiro Matsushita1, Satoshi Ito1

Fuente: http://www.scirp.org/


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