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

Castillo C. F., Engin Ş. N., Batlle V. F.

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, vol.45, no.4, pp.714-727, 2014 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 45 Issue: 4
  • Publication Date: 2014
  • Doi Number: 10.1080/00207721.2013.819948
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.714-727
  • Keywords: flexible links, antenna sensors, dynamic model, force-torque sensor, robotics, MANIPULATORS
  • Yıldız Technical University Affiliated: Yes


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.