Design, dynamic modelling and experimental validation of a 2DOF flexible antenna sensor

Claudia F. Castillo, Seref Naci Engin and Vicente Feliu Batlle

International Journal of Systems Science, 2014, vol. 45, issue 4, 714-727

Abstract: A two-degree-of-freedom flexible antenna sensor platform was designed to physically simulate the ability of a robotic arm, which rapidly reorients and targets itself towards specific surfaces from different approachable angles. An accurate antenna model involves non-linear expressions that represent the system dynamics. Therefore, a comprehensive study along with experimental work has been carried out in order to achieve accurate system identification and validate the dynamic model. The model developed has proven useful in controlling the antenna tip, minimising the effects of the non-linear flexural dynamics and the Coulomb friction. The system was driven by servo motors. Algebraic controllers were developed for the antenna tip to track the reference trajectory. The platform system used encoders to measure the joint angles and a loadcell sensor to obtain the flexible link tip position. To validate the sensory information, the results obtained by the integrated sensors were compared to that of an external camera system.

Date: 2014
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2013.819948 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:45:y:2014:i:4:p:714-727

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2013.819948

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().