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%.

Experimental Study on Active Vibration Control of Flexible Manipulator Based on Improved PPF Algorithm

2014 ◽  
Vol 989-994 ◽  
pp. 2774-2777
Author(s):  
Fei Du ◽  
Tian Bing Ma
Keyword(s):  
Experimental Study ◽  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Experimental Result ◽  
Work Efficiency ◽  
Control Effect ◽  
Positioning Accuracy ◽  
Active Vibration ◽  
Modal Vibration

The positioning accuracy and work efficiency of flexible manipulator is seriously affected by its vibration. Therefore, vibration control of single joint flexible manipulator is studied by using an improved PPF algorithm based on LabVIEW and piezoelectric technology. Firstly, the improved PPF algorithm principle is introduced. Then, the experiment process is discussed in detail. Experimental result shows that the improved PPF algorithm can effectively control the first two modal vibration of flexible manipulator. The control effect is close to 14 dB and improved nearly 4.5 dB compared with PPF algorithm.

scholarly journals Active vibration control of a multilink space flexible manipulator with torque feedback.

1990 ◽  
Vol 8 (2) ◽  
pp. 171-178
Author(s):  
Tadashi KOMATSU ◽  
Michihiro UENOHARA ◽  
Shoichi IIKURA ◽  
Hirofumi MIURA ◽  
Isao SHIMOYAMA
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Active Vibration
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