Title page for ETD etd-04022001-110522

Type of Document Master's Thesis
Author Carr, Angela Sara
URN etd-04022001-110522
Title Position Control Comparison of Equilibrated and Mass Counterweight Systems
Degree Master of Science
Department Mechanical Engineering
Advisory Committee
Advisor Name Title
Reinholtz, Charles F. Committee Chair
Leo, Donald J. Committee Member
Saunders, William R. Committee Member
  • Equilibrator
  • Dynamic Model
  • Control
Date of Defense 2001-03-30
Availability unrestricted
In robotic systems, reduction of inertia is a key concern. One way to reduce the system inertia is to replace counterbalance masses with an equilibrator, which is a force element like a spring. Although there has been much research on equilibrated mechanisms, there has not much research on the control of these mechanisms. This thesis explores the PID control of equilibrated systems, and compares the results to the PID control of a common method of equilibration, the mass counterweight. Through modeling, simulating, and testing of the two systems, the equilibrated system response was found to be superior to the mass counterweight in measures of settling time and peak overshoot.
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