Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer

2018 ◽  
Vol 21 (2) ◽  
pp. 847-855 ◽  
Author(s):  
Hongjun Yang ◽  
Jinkun Liu
Keyword(s):  
Vibration Control ◽  
Disturbance Observer ◽  
Active Vibration Control ◽  
Flexible Link ◽  
Input Constraint ◽  
Active Vibration

scholarly journals Active vibration control of a flexible link robot with the use of piezoelectric actuators

2018 ◽  
Vol 148 ◽  
pp. 11005 ◽  
Author(s):  
Darren Williams ◽  
Hamed Haddad Khodoparast ◽  
Chenyuang Yang
Keyword(s):  
Vibration Control ◽  
Research Effort ◽  
Active Vibration Control ◽  
Beam Theory ◽  
Flexible Link ◽  
Flexible Links ◽  
Robot Systems ◽  
Active Vibration ◽  
Euler Bernoulli Beam ◽  
General Method

Within robot systems the use of flexible links could solve many issues raised by their rigid counterparts. However, when these flexible links are integrated within systems which include moving parts their main issue lies in the vibrations experienced along their length due to disturbances. Much research effort has been made to solve this issue, with particular attention being paid to the application of piezoelectric patches as actuators within active vibration control (AVC). The study will consist of accurate models of a flexible link and two surface bonded piezoelectric patches, where the link and the piezoelectric patches will be modelled through the use of Euler-Bernoulli beam theory (EBT). The link will be subject to an initial displacement at its free end, and the resulting displacement of this end of the beam is to be controlled using a classic proportional-differential (PD) controller. The voltages to be applied across each of the actuators is to be controlled in accordance with the displacement of the free end of the beam, the actuators will then induce a strain upon the link opposing the movement of the tip. This research outlines this general method, obtains the best location of the piezoelectric patches and the control gains to be used, and proves that the method can be used to attenuate the vibrations experienced by a flexible link.

scholarly journals Experimental Study of Active Vibration Control of Planar 3-RRR Flexible Parallel Robots Mechanism

2016 ◽  
Vol 2016 ◽  
pp. 1-17 ◽  
Author(s):  
Qinghua Zhang ◽  
Xianmin Zhang ◽  
Junyang Wei
Keyword(s):  
Strain Rate ◽  
Vibration Control ◽  
Active Vibration Control ◽  
Elastic Vibration ◽  
Parallel Robots ◽  
Flexible Link ◽  
Flexible Links ◽  
Rate Feedback ◽  
Active Vibration ◽  
General Motion

An active vibration control experiment of planar 3-RRR flexible parallel robots is implemented in this paper. Considering the direct and inverse piezoelectric effect of PZT material, a general motion equation is established. A strain rate feedback controller is designed based on the established general motion equation. Four control schemes are designed in this experiment: three passive flexible links are controlled at the same time, only passive flexible link 1 is controlled, only passive flexible link 2 is controlled, and only passive flexible link 3 is controlled. The experimental results show that only one flexible link controlled scheme  suppresses elastic vibration and cannot suppress the elastic vibration of the other flexible links, whereas when three passive flexible links are controlled at the same time, they are able to effectively suppress the elastic vibration of all of the flexible links. In general, the experiment verifies that a strain rate feedback controller is able to effectively suppress the elastic vibration of the flexible links of plane 3-RRR flexible parallel robots.

Active Vibration Control of a Flexible Link Robot with MPC

2012 ◽  
Vol 45 (17) ◽  
pp. 163-168
Author(s):  
Klemens Springer ◽  
F. Johannes Kilian ◽  
Hubert Gattringer
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Link ◽  
Active Vibration

A comparison of active vibration control techniques - Output feedback vs optimal control

1987 ◽  
Author(s):  
ZORAN MARTINOVIC ◽  
RAPHAEL HAFTKA ◽  
WILLIAM HALLAUER, JR. ◽  
GEORGE SCHAMEL, II
Keyword(s):  
Optimal Control ◽  
Vibration Control ◽  
Output Feedback ◽  
Active Vibration Control ◽  
Control Techniques ◽  
Active Vibration
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