Active Damping of a Large Flexible Manipulator With a Short-Reach Robot

I. Sharf

doi:10.1115/1.2802346

Active Damping of a Large Flexible Manipulator With a Short-Reach Robot

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802346 ◽

1996 ◽

Vol 118 (4) ◽

pp. 704-713 ◽

Cited By ~ 13

Author(s):

I. Sharf

Keyword(s):

Vibration Suppression ◽

Controller Design ◽

Reaction Force ◽

Control Variable ◽

Active Damping ◽

Flexible Manipulator ◽

Design Problems ◽

Flexible Arm ◽

Six Degree Of Freedom ◽

Small Robot

This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed to have significant structural flexibility, while the latter is modeled as a rigid robot. The particular problem addressed is that of active damping, or vibration suppression, of the LRM by using SRM specifically for that purpose Such a scenario is envisioned for operations where the large manipulator is used to deploy the small robot and it is necessary to damp out vibrations in LRM prior to operating SRM. The proposed solution to the problem uses the reaction force from SRM to LRM as a control variable which allows to effectively decouple the controller design problems for the two manipulators. A two-stage controller is presented that involves first, determining the trajectory of the short manipulator required to achieve a desired damping wrench to the supporting flexible arm and subsequently, brings the small manipulator to rest. Performance of the active damping algorithm developed is illustrated with a six-degree-of-freedom rigid manipulator on a flexible mast. Comparison to an independent derivative joint controller is included. The paper also discusses how the proposed methodology can be extended to address other issues related to operation of long-reach manipulator systems.

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Cross term constructed Lyapunov function based two-time scale controller design and vibration suppression for a rotating hub-beam system

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331219877800 ◽

2019 ◽

Vol 42 (3) ◽

pp. 551-564

Author(s):

Ghasem Khajepour ◽

Ramin Vatankhah ◽

Mohammad Eghtesad ◽

Mohsen Vakilzadeh

Keyword(s):

Lyapunov Function ◽

Vibration Suppression ◽

Controller Design ◽

Equations Of Motion ◽

Angular Position ◽

Pole Placement ◽

Cross Term ◽

Modeling And Control ◽

Beam System ◽

Flexible Arm

In this article, modeling and control of a rotating hub-beam system are studied. The system consists of a solid rotating cylinder and an attached flexible arm with a payload at the end. The rotation is supposed to be in the presence of gravity and the flexible arm is assumed to be a Euler-Bernoulli beam. To derive the equations of motion of the system, Lagrange’s method is applied. Moreover, Galerkin’s technique is employed to discretize the equations of motion. Furthermore, designing an appropriate two-time (slow and fast) scale controller in the presence of uncertainties is considered in order to track the desired hub angular position and suppress vibrations of the arm simultaneously. For the so-called slow subsystem, a novel controller design is proposed as two different cases, with and without the presence of uncertainties in system dynamics are considered; and accordingly, a control law for tracking the desired path is introduced based on the idea of using the cross-term constructed Lyapunov function. For the fast subsystem, a pole placement technique is used to suppress vibration of the beam. The simulation results indicate notable effectiveness of the proposed controller.

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A three-stage controller design for trajectory tracking and vibration suppression of two-link flexible manipulator

Proceedings of 35th IEEE Conference on Decision and Control ◽

10.1109/cdc.1996.573436 ◽

2002 ◽

Author(s):

Z.X. Shi ◽

Y.F. Lu ◽

J.C. Duan ◽

E.H.K. Fung

Keyword(s):

Trajectory Tracking ◽

Vibration Suppression ◽

Controller Design ◽

Flexible Manipulator

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Hybrid Control Scheme of Coordinated Motion and Active Vibration Suppression for Free-Floating Space Flexible Manipulator With Parameter Uncertainty

Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C ◽

10.1115/detc2009-86131 ◽

2009 ◽

Cited By ~ 1

Author(s):

Zhaobin Hong ◽

Chen Li

Keyword(s):

Parameter Uncertainty ◽

Vibration Suppression ◽

Controller Design ◽

Hybrid Control ◽

Flexible Manipulator ◽

Control Force ◽

Coordinated Motion ◽

Flexible Mode ◽

Control Scheme ◽

Hybrid Control Scheme

The dynamic control and vibration suppression problems of free-floating space flexible manipulator are studied. The Variable Structure Control (VSC) law alone, which is designed to track the desired trajectories of base’s attitude and joint angles, does not guarantee the stability of the flexible mode dynamics of the flexible link. In order to actively suppress the flexible vibration, a hybrid trajectory for the VSC is generated using the virtual control force concept. Based on the hybrid trajectory, the hybrid control scheme is proposed to eliminate the flexible vibration while the robustness of VSC developed for coordinated motion is maintained. In particular, it doesn’t require measuring the position, velocity nor acceleration of the base in the controller design. Simulation result confirms that the proposed hybrid control scheme can dominates the trajectory tracking of coordinated motion and actively suppress the vibration in the presence of parameter uncertainty.

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Robust 2-Degrees-Of-Freedom Vibration Suppression Controller Design Based on Simultaneous Optimization between Feedforward and Feedback Compensators

IEEJ Transactions on Industry Applications ◽

10.1541/ieejias.133.290 ◽

2013 ◽

Vol 133 (3) ◽

pp. 290-299 ◽

Cited By ~ 2

Author(s):

Takanori Kato ◽

Yoshihiro Maeda ◽

Makoto Iwasaki ◽

Hiromu Hirai

Keyword(s):

Degrees Of Freedom ◽

Vibration Suppression ◽

Controller Design ◽

Simultaneous Optimization

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End-Point Controller Design for an Experimental Two-Link Flexible Manipulator using Convex Optimization

10.23919/acc.1990.4791033 ◽

1990 ◽

Cited By ~ 2

Author(s):

Celia M. Oakley ◽

Craig H. Barratt

Keyword(s):

Convex Optimization ◽

Controller Design ◽

Flexible Manipulator ◽

End Point

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Vibration suppression method of humanoid flexible arm based on model-free predictive control

Advanced Robotics ◽

10.1080/01691864.2021.1875043 ◽

2021 ◽

pp. 1-9

Author(s):

Qinjun Du ◽

Chuanming Song ◽

Wei Ding ◽

Long Zhao ◽

Yonggang Luo

Keyword(s):

Predictive Control ◽

Vibration Suppression ◽

Model Free ◽

Flexible Arm ◽

Suppression Method

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The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽

10.3390/s21041522 ◽

2021 ◽

Vol 21 (4) ◽

pp. 1522

Author(s):

Fuli Zhang ◽

Zhaohui Yuan

Keyword(s):

Dynamic Model ◽

Vibration Suppression ◽

Control Method ◽

Coupling Effect ◽

Flexible Manipulator ◽

Flexible Beam ◽

Robot Dynamics ◽

Joint Friction ◽

Balance Principle ◽

Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

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Vibration suppression of wind turbine nacelle with active electromagnetic mass damper systems using adaptive backstepping control

Journal of Vibration and Control ◽

10.1177/1077546321998878 ◽

2021 ◽

pp. 107754632199887

Author(s):

Sinan Basaran ◽

Fevzi Cakmak Bolat ◽

Selim Sivrioglu

Keyword(s):

Vibration Suppression ◽

Controller Design ◽

Wind Load ◽

Backstepping Control ◽

Structural Systems ◽

Adaptive Backstepping ◽

Electromagnetic Mass ◽

Flow Induced Vibration ◽

Adaptive Backstepping Control ◽

Mass Damper

Many structural systems, such as wind turbines, are exposed to high levels of stress during operation. This is mainly because of the flow-induced vibrations caused by the wind load encountered in every tall structure. Preventing the flow-induced vibration has been an important research area. In this study, an active electromagnetic mass damper system was used to eliminate the vibrations. The position of the stabilizer mass in the active electromagnetic mass damper system was determined according to the displacement information read on the system without using any spring element, unlike any conventional system. The proposed system in this study has a structure that can be implemented as a vibration suppressor in many intelligent structural systems. Two opposing electromagnets were used to determine the instant displacement of the stabilizer mass. The control currents to be given to these electromagnets are determined by using an adaptive backstepping control design. The adaptive controller algorithm can predict the wind load used in the controller design without prior knowledge of the actual wind load. It was observed that the designed active electromagnetic mass damper structure is successful in suppressing system vibrations. As a result, the proposed active electromagnetic mass damper system has been shown to be suitable for structural systems in flow-induced vibration damping.

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Vibration attenuation of a two-link flexible arm carried by a translational stage

Journal of Vibration and Control ◽

10.1177/1077546318763437 ◽

2018 ◽

Vol 24 (23) ◽

pp. 5650-5664 ◽

Cited By ~ 3

Author(s):

Shang–Teh Wu ◽

Shan-Qun Tang ◽

Kuan–Po Huang

Keyword(s):

Feedback Loop ◽

Control Method ◽

Flexible Manipulator ◽

Closed Loop System ◽

Flexible Arm ◽

Vibration Attenuation ◽

Shaft Encoder ◽

High Frequency Vibrations ◽

Spatial Derivatives ◽

Derivatives Of

This paper investigates the vibration control of a two-link flexible manipulator carried by a translational stage. The first and the second links are each driven by a stage motor and a joint motor. By treating the joint motor as a virtual spring, the two-link manipulator can be regarded as an integral flexible arm driven by the stage motor. A noncollocated controller is devised based on feedback from the deflection of the virtual spring, which can be measured by a shaft encoder. Stability of the closed-loop system is analyzed by examining the spatial derivatives of the modal functions. By including a bandpass filter in the feedback loop, residual vibrations can be attenuated without exciting high-frequency vibrations. The control method is simple to implement; its effectiveness is confirmed by simulation and experimental results.

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