Modeling and analysis of dynamic contact point sensing by a flexible beam
説明
A dynamic active antenna sensor for locating a contact point is considered in this paper. In its simplest realization the sensor can be implemented in the form of a flexible beam rotating in plane. The main feature of the sensor is the use of the frequency-contact point curve which, for some regions, may be a multivalued function. One way of "improving" the curve could be concerned with the nonuniform mass and stiffness distribution of the beam which would lead to a rather complicated sensor design. Another way to remedy the situation is to change the sensing strategy by adding a proper control action at the joint of the beam. To study the sensor's response to the control, a dynamic model of the beam in contact with the external environment is developed. Analysis of the frequency equation shows how a simple proportional control law changes the sensing curve. It is found that in some limiting, but practically attainable cases the sensing curve becomes a single-valued function. Thus, the solution proposed can significantly simplify the identification procedure.
収録刊行物
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- Proceedings of IEEE International Conference on Robotics and Automation
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Proceedings of IEEE International Conference on Robotics and Automation 2 1681-1686, 2002-12-23
IEEE