Robust Boundary Vibration Control of Uncertain Flexible Robot Manipulator with Spatiotemporally-varying Disturbance and Boundary Disturbance

2020 ◽  
Author(s):  
Mohamed Ahmed Eshag ◽  
Lei Ma ◽  
Yongkui Sun ◽  
Kai Zhang
Keyword(s):  
Vibration Control ◽  
Robot Manipulator ◽  
Flexible Robot ◽  
Boundary Disturbance

Active Residual Vibration Control for Flexible Robot Manipulator Systems

1998 ◽  
Author(s):  
Zhang Xianmin ◽  
Song Li ◽  
Liu Jike
Keyword(s):  
Vibration Control ◽  
Control Method ◽  
Robot Manipulator ◽  
Active Vibration Control ◽  
Computational Method ◽  
Beam Model ◽  
Flexible Robot ◽  
Linear Quadratic ◽  
Active Vibration ◽  
Optimal Control Scheme

Abstract In this paper, a mathematical model for flexible robot manipulators with smart links featuring piezoelectric films is developed in conjunction with the finite element method. The dynamics of piezoelectric actuators and strain gage sensors bonded on the flexible links are presented for beam model. Theory and measures of active vibration control for flexible manipulators are studied based on the modal and modern control theory, and the correspondent optimal control scheme is proposed. The robust control low is formulated based on the modified independent modal control method and the Linear Quadratic theory. The computational method for the actual control moments and the control voltages are also presented.

Techniques for vibration control of a flexible robot manipulator

Robotica ◽  
2006 ◽  
Vol 24 (4) ◽  
pp. 499-511 ◽  
Author(s):  
Z. Mohamed ◽  
A. K. Chee ◽  
A. W. I. Mohd Hashim ◽  
M. O. Tokhi ◽  
S. H. M. Amin ◽  
...  
Keyword(s):  
Vibration Control ◽  
Robot Manipulator ◽  
Flexible Manipulator ◽  
Flexible Robot ◽  
Command Shaping ◽  
Parameters Uncertainty ◽  
Frequency Domains ◽  
And Performance ◽  
The Impact ◽  
Input Shaping Control

This paper presents investigations into the applications and performance of positive and negative input shapers in command shaping techniques for the vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the finite element method. An unshaped bang-bang torque input is used to determine the characteristic parameters of the system for design and evaluation of the input shaping control techniques. The positive and specified amplitude negative input shapers are designed based on the properties of the system. Simulation results of the response of the manipulator to the shaped inputs are presented in the time and frequency domains. Performances of the shapers are examined in terms of level of vibration reduction, time response specifications and robustness to parameters uncertainty. The effects of derivative order of the input shaper on the performance of the system are investigated. Finally, a comparative assessment of the impact amplitude polarities of the input shapers on the system performance is presented and discussed.

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