A video system is used as a single contactless multipoint dis placement sensor to measure the vibration displacement of a beam. In this article, several schemes are proposed to reduce the image processing time and to increase its accuracy. The vibration displacements of the entire beam are measured with a sampling rate of 60 Hz. From these measured data, the mode shapes and vibration states can be calculated. The video system is shown to have a potential for on-line control and on-line identification of flexible beam systems.
Get full access to this article
View all access options for this article.
References
1.
Cannon, R.H., and Schmitz, E.1984. Initial experiments on the end-point control of a flexible one-link robot. Int. J. Robot. Res.3(3):62-75.
2.
Chalhoub, N.G., and Ulsoy, A.G.1987. Control of a flexible robot arm: Experimental and theoretical results. J. Dynam. Sys. Measurement Control109:299-309.
3.
Fukuda, T.1986. Control of flexible robot arms. Bull. JSME29(250):1269-1273.
4.
Hastings, G.G., and Book, W.J.1987. A linear dynamic model for flexible robotic manipulators . IEEE Control System Magazine, pp. 61-64.
5.
Ljung, L., and Söderström, T.1983Theory and Practice of Recursive Identification . Cambridge, MA: The MIT Press .
6.
Meirovitch, L.1975. Elements of Vibration Analysis. New York: McGraw-Hill.
7.
Sridhar, B., Aubrun, J.N., and Lorell, K.R.1985. Experiment for control of flexible structures. IEEE Control System Magazine, pp. 29-35.
8.
Sundararajan, N., and Montgomery, R.C.1985. Experiments using lattice filters to identify the dynamics of a flexible beam. J. Dynam. Sys. Measurement Control107:187-191.
9.
Wang, W.J., Lu, S.S., and Hsu, C.F.1989. Experiments on position control of a one-link flexible robot arm. IEEEInt. J. Robot. Automation5(3):373-377.
