Active Residual Vibration Control for Flexible Robot Manipulator Systems
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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.
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2008 ◽
Vol 47-50
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pp. 137-140
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2017 ◽
Vol 28
(15)
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pp. 2074-2081
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2000 ◽
Vol 2000.53
(0)
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pp. 143-144
2013 ◽
1992 ◽
Vol 58
(548)
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pp. 1034-1040
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2009 ◽
Vol 419-420
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pp. 173-176
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