Modeling and analysis of dynamic contact point sensing by a flexible beam

M. M. Svinin, N. Ueno, M. Kaneko, T. Tsuji

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


A dynamic active antenna sensor for locating a contact point is considered in this paper. In its simpliest 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 multi-valued function. One way of 'improving' the curve could be concerned with the non-uniform 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.

Original languageEnglish
Pages (from-to)1681-1686
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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