Active vibration control of a single-link flexible manipulator by pole-placement approach

2003 ◽  
Author(s):  
Jian-Xin Xu ◽  
Wen-Jun Cao
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Pole Placement ◽  
Single Link ◽  
Active Vibration

Active vibration control of a multi-link space flexible manipulator with torque feedback

1991 ◽  
Vol 6 (1) ◽  
pp. 23-39 ◽  
Author(s):  
Tadashi Komatsu ◽  
Michihiro Uenohara ◽  
Shoichi Kura ◽  
Hirofumi Miura ◽  
Isao Shimoyama
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Active Vibration

Simulation and experiments of active vibration control for ultra-long flexible manipulator under impact loads

2018 ◽  
Vol 25 (3) ◽  
pp. 675-684 ◽  
Author(s):  
Yi Huang ◽  
Zhiqiang Liu ◽  
Ronghua Du ◽  
Hongbin Tang
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Hydraulic Cylinder ◽  
Numerical Approach ◽  
Flexible Manipulator ◽  
Relational Model ◽  
Impact Loads ◽  
Least Mean Square ◽  
Robotic Control ◽  
Active Vibration

This paper aims to reduce the tip vibration of an ultra-long flexible manipulator subjected to impact loads. A modified least mean square method is proposed to determine the frequency response matrix of control paths and identify the complex amplitude of external excitation responses. The presented work is innovative in the sense that: (1) a theoretical model and a new algorithm are proposed for the identification of explicit convergence conditions of online parameters, and they are used to calculate output variables for the optimized robotic control; (2) an active numerical approach is developed to control the response of the tip vibration of the manipulator. The control algorithm is based on a relational model of control parameters and system outcomes; (3) design of experiments is performed for the verification purpose. The active vibration control has been demonstrated on a pump truck product where the third boom hydraulic cylinder is selected as the actuator for testing, and the manipulator tip is equipped with an acceleration sensor to collect the information of vibration; and (4) the performance of the proposed active vibration control has been validated on the flexible manipulator, and the results have shown that the amplitude of the vibration of robotic tip has been decreased for more than 60%.

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