Hybrid vibration and rest-to-rest control of a two-link flexible robotic arm using H∞ loop-shaping control design

2016 ◽  
Vol 33 (2) ◽  
Author(s):  
Mostafa sayahkarajy ◽  
Z Mohamed ◽  
A.A.M. Faudzi ◽  
E. Supriyanto
Keyword(s):  
Vibration Control ◽  
Design Methodology ◽  
Flexible Manipulator ◽  
Structural Vibration ◽  
Joint Angles ◽  
Shaping Filter ◽  
Loop Shaping ◽  
Space Manipulators ◽  
Feed Forward Controller ◽  
Practical Implications

Purpose This study presents a method for simultaneous motion and vibration control of light-weight slender robotic arms, known as flexible manipulators. In this paper, a new control algorithm is proposed for a two-link manipulator with elastic links. Design/methodology/approach The controller includes a MIMO H∞ Loop-Shaping Design (H∞LSD) as the feedback controller, and a command pre-shaping filter as the feed-forward controller. The conventional inputs and outputs of a typical two-link manipulator , that consists of the torques applied by the actuators at the joints, and the joint angles are chosen for the feedback control. Findings It is shown that by selecting a proper desired loop shape, the H∞LSD is able to control the joint angles of the manipulator, and simultaneously, suppress vibrations of the system so that the high frequency chatter due to the structural vibration modes does not appear at the outputs. Then it is shown that when the H∞LSD is equipped with a command pre-shaping filter, more efficient suppression of the chatter at the tip of the manipulator is achieved. The capability and effectiveness of the proposed control strategy in driving and stabilizing the manipulator to desired positions and simultaneously suppressing structural vibrations is shown by the simulation of the flexible manipulator in rest-to-rest maneuvers. Practical implications Flexible Manipulator, Space Manipulators Originality/value A robust MIMO controller is proposed for simultaneous motion and vibration control of flexible manipulator.

scholarly journals ACTIVE VIBRATIONAL CONTROL OF FLEXIBLE MANIPULATOR USING FILTERED-X LMS ALGORITHM

2017 ◽  
Keyword(s):  
Vibration Control ◽  
Vibration Mode ◽  
Notch Filter ◽  
Lms Algorithm ◽  
Flexible Manipulator ◽  
Resonant Vibration ◽  
Joint Angles ◽  
Adaptive Notch Filter ◽  
Vibrational Control ◽  
System Input

This paper describes the vibration control of a flexible manipulator using Filtered-x LMS algorithm. In this study adaptive notch filter is applied to the vibration control of a flexible manipulator model. The adaptive notch filter is designed to estimate multiple vibration mode frequencies of the flexible manipulator and to minimize the effect of vibration. The filtered-x LMS algorithm is applied to make the root strain error and the system input as close to minimization as possible. In the process, the adaptive notch filter learns to eliminate the resonant vibration frequencies of the system. The experimental results show that this presented adaptive notch filter system can suppress the vibration of the flexible manipulator and track the desired joint angles.

scholarly journals 3D Trajectory Control of Flexible Manipulator

2020 ◽  
Author(s):  
Minoru Sasaki ◽  
Daiki Maeno ◽  
Jackline Asango ◽  
Wweru Njeri ◽  
Kojiro Matsushita ◽  
...  
Keyword(s):  
Vibration Control ◽  
Inverse Kinematics ◽  
Trajectory Control ◽  
Flexible Manipulator ◽  
Joint Angles ◽  
Position Accuracy ◽  
Simultaneous Control ◽  
Controller Performance ◽  
Tip Position ◽  
The Ideal

This paper describes the development of a controller that enables trajectory control and vibration control. The controller performance was verified the using a 3D 2-link, flexible manipulator. On trajectory control using inverse kinematics, it was confirmed that the deflection due to its own weight deteriorated the track following performance. The vibration component of the resonance frequency of the flexible manipulator was generated, and the tip position accuracy is deteriorated. Using the results of control experiments based on the inverse kinematics, the system is identified and then created an inverse system for simultaneous control of trajectory control and vibration control. The target trajectories were the three joint angles. Finally, it was demonstrated through experiments on actual manipulator, that the system could sufficiently follow the ideal trajectory and suppress link vibrations.

Vibration Control of a Flexible Manipulator Driven by a Pneumatic Rodless Cylinder

ROBOT ◽  
2012 ◽  
Vol 34 (1) ◽  
pp. 9
Author(s):  
Zhicheng QIU ◽  
Bin WANG ◽  
Jianda HAN ◽  
Yuechao WANG
Keyword(s):  
Vibration Control ◽  
Flexible Manipulator

Consumer value creation through WhatsApp use

2019 ◽  
Vol 32 (4) ◽  
pp. 455-471
Author(s):  
Jorge Cruz-Cárdenas ◽  
Jorge Guadalupe-Lanas ◽  
Ekaterina Zabelina ◽  
Andrés Palacio-Fierro ◽  
Margarita Velín-Fárez ◽  
...  
Keyword(s):  
Latin American ◽  
Value Creation ◽  
Emotional Support ◽  
Design Methodology ◽  
Instant Messaging ◽  
Role Performance ◽  
Content Type ◽  
Consumer Value ◽  
Depth Interviews ◽  
Practical Implications

Purpose The purpose of this paper is to understand in-depth how consumers create value in their lives using WhatsApp, the leading mobile instant messaging (MIM) application. Design/methodology/approach The study adopts the perspective of customer-dominant logic (CDL) and uses a qualitative multimethod design involving 3 focus groups and 25 subsequent in-depth interviews. The research setting was Ecuador, a Latin American country. Findings Analysis and interpretation of the participants’ stories made it possible to identify and understand the creation of four types of value: maintaining and strengthening relationships; improving role performance; emotional support; and entertainment and fun. In addition, the present study proposes a conceptual model of consumer value creation as it applies to MIM. Practical implications Understanding the way consumers create value in their lives using MIM is important not only for organizations that offer MIM applications, but also for those companies that develop other applications for mobile phones or for those who wish to use MIM as an electronic word-of-mouth vehicle. Originality/value The current study is one of the first to address the topic of consumer behavior in the use of technologies from the perspective of CDL; this perspective enables an integrated qualitative vision of value creation in which the consumer is the protagonist.

scholarly journals Advantages and potential challenges of data management in e-maintenance

2019 ◽  
Vol 25 (3) ◽  
pp. 378-396 ◽  
Author(s):  
Arian Razmi-Farooji ◽  
Hanna Kropsu-Vehkaperä ◽  
Janne Härkönen ◽  
Harri Haapasalo
Keyword(s):  
Data Management ◽  
Design Methodology ◽  
Management Practices ◽  
Future Research ◽  
Conceptual Approach ◽  
Content Type ◽  
Different Types ◽  
Maintenance Systems ◽  
Industry Leader ◽  
Practical Implications

Purpose The purpose of this paper is twofold: first, to understand data management challenges in e-maintenance systems from a holistically viewpoint through summarizing the earlier scattered research in the field, and second, to present a conceptual approach for addressing these challenges in practice. Design/methodology/approach The study is realized as a combination of a literature review and by the means of analyzing the practices on an industry leader in manufacturing and maintenance services. Findings This research provides a general understanding over data management challenges in e-maintenance and summarizes their associated proposed solutions. In addition, this paper lists and exemplifies different types and sources of data which can be collected in e-maintenance, across different organizational levels. Analyzing the data management practices of an e-maintenance industry leader provides a conceptual approach to address identified challenges in practice. Research limitations/implications Since this paper is based on studying the practices of a single company, it might be limited to generalize the results. Future research topics can focus on each of mentioned data management challenges and also validate the applicability of presented model in other companies and industries. Practical implications Understanding the e-maintenance-related challenges helps maintenance managers and other involved stakeholders in e-maintenance systems to better solve the challenges. Originality/value The so-far literature on e-maintenance has been studied with narrow focus to data and data management in e-maintenance appears as one of the less studied topics in the literature. This research paper contributes to e-maintenance by highlighting the deficiencies of the discussion surrounding the perspectives of data management in e-maintenance by studying all common data management challenges and listing different types of data which need to be acquired in e-maintenance systems.

An exploratory empirical study of whistleblowing and whistleblowers

2020 ◽  
Vol 27 (3) ◽  
pp. 755-770
Author(s):  
Maria Krambia-Kapardis
Keyword(s):  
Statistical Analysis ◽  
Design Methodology ◽  
Research Topic ◽  
Due Date ◽  
Content Type ◽  
Unethical Behaviour ◽  
Eu Member States ◽  
European Directive ◽  
Original Survey ◽  
Practical Implications

Purpose The purpose of this study is to develop a profile of whistleblowers and to determine whether whistleblowing legislation would encourage those individuals to bring to light some illegal or unethical behaviour that otherwise would remain in the shadows. Design/methodology/approach Having identified whistleblowing correlation, a survey was carried out in Cyprus of actual whistleblowers and could-have-been whistleblowers. Findings Males between 46 and55 years of age, regardless of whether they have dependents or hold senior positions in organizations are significantly more likely to blow the whistle. However, could-have-been whistleblowers did not go ahead because they felt that the authorities would not act on their information. Research limitations/implications Because of the sensitive nature of the research topic and the fact that only whistleblowers or intended whistleblowers could participate in the study, the sample size is limited as a result. This, in turn, limits both the number of respondents in each category (actual and intended) as well as constrains the statistical analysis that could be carried out on the data. Practical implications It remains to be seen whether EU Member States shall implement the European Directive 2019/1937 on the protection of persons who report breaches of Union Law, in its entirety by the due date, namely December 2021. Originality/value This study provides a literature review of whistleblowing and reports an original survey against the backdrop of the European Directive.

How Phillips saw the light

2020 ◽  
Vol 36 (8) ◽  
pp. 29-31
Keyword(s):  
Design Methodology ◽  
Reading Time ◽  
Daily Basis ◽  
Business World ◽  
Content Type ◽  
Freak Show ◽  
The World ◽  
Pertinent Information ◽  
The One ◽  
Practical Implications

Purpose Reviews the latest management developments across the globe and pinpoints practical implications from cutting-edge research and case studies. Design/methodology/approach This briefing is prepared by an independent writer who adds their own impartial comments and places the articles in context. Findings The problem with developing a reputation of being something of an oracle in the business world is that all of a sudden, everyone expects you to pull off the trick of interpreting the future on a daily basis. Like a freak show circus act or one-hit wonder pop singer, people expect you to perform when they see you, and they expect you to perform the thing that made you famous, even if it is the one thing in the world you don’t want to do. And when you fail to deliver on these heightened expectations, you are dismissed as a one trick pony, however good that trick is in the first place. Originality/value The briefing saves busy executives and researchers hours of reading time by selecting only the very best, most pertinent information and presenting it in a condensed and easy-to-digest format.

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