scholarly journals Motion and Vibration Control of a Flexible Robot Arm (Example of the Extended Reduced Order Physical Model)

2003 ◽  
Vol 69 (687) ◽  
pp. 2914-2920 ◽  
Author(s):  
Yukifumi OHTSUKA ◽  
Kouhei TSUCHIDATE ◽  
Takahito SAGANE ◽  
Hiroshi TAJIMA ◽  
Kazuto SETO
Keyword(s):  
Vibration Control ◽  
Physical Model ◽  
Robot Arm ◽  
Flexible Robot ◽  
Reduced Order

Modeling Method for Elastic Multibody Systems With Arbitary Boundary Conditions by Using Extended Reduced Order Physical Model and Its Application to a Two-Link Flexible Robot Arm

2007 ◽  
Author(s):  
Masahiko Aki ◽  
Toru Watanabe ◽  
Kazuto Seto
Keyword(s):  
Boundary Conditions ◽  
Physical Model ◽  
Multibody Systems ◽  
Modeling Method ◽  
Robot Arm ◽  
Flexible Robot ◽  
Arbitrary Boundary ◽  
Reduced Order ◽  
Flexible Links ◽  
Elastic Multibody Systems

This paper deals with the effectiveness of Extended Reduced Order Physical Model (EROPM) for elastic multibody systems with arbitrary boundary conditions. A novel formulation is applied to the modeling of a two-link flexible robot arm. Flexible links are modeled by using the proposed modeling method. The two-link flexible robot arm model is derived by connecting these flexible links. LQI control theory is applied for the control of the two-link flexible robot arm. The effectiveness of “EROPM with arbitrary boundary condition” is shown through simulation and experimental results.

Force and Motion Control of a Constrained Flexible Robot Arm

1994 ◽  
Vol 116 (3) ◽  
pp. 336-343 ◽  
Author(s):  
F. L. Hu ◽  
A. G. Ulsoy
Keyword(s):  
Vibration Control ◽  
Motion Control ◽  
Force Control ◽  
Experimental Studies ◽  
Joint Motion ◽  
Robot Arm ◽  
Flexible Robot ◽  
Force And Motion ◽  
Regulation And Tracking

The results of a study on the combined joint motion control, vibration control, and force control of a constrained rigid-flexible robot arm for both regulation and tracking are presented. A nonlinear modified Corless-Leitmann controller is proposed for control of the flexible motion using only joint actuators. Experimental studies, which demonstrate the effectiveness of the proposed method, are described.

A New Modeling Technique and Control System Design of a Flexible Rotor Supported by Active Magnetic Bearings for Motion and Vibration Control

2003 ◽  
Author(s):  
Mitsuhiro Ichihara ◽  
Hideo Shida ◽  
Takahito Sagane ◽  
Hiroshi Tajima ◽  
Muneharu Saigou ◽  
...  
Keyword(s):  
Control System ◽  
Vibration Control ◽  
System Design ◽  
Physical Model ◽  
Magnetic Bearings ◽  
Control System Design ◽  
Active Magnetic Bearings ◽  
Flexible Rotor ◽  
Reduced Order ◽  
And Control

This paper proposed a new modeling technique and control system design of a flexible rotor using active magnetic bearings (AMB) for motion and vibration control. The purpose of the research was to pass through a critical speed and achieve high-speed rotation. To achieve this, it is necessary to control both vibration and motion. Even though reduced order physical model [1] that we used before is available technique in expressing vibration, this technique cannot express motion. Thus we propose an extended reduced order physical model [2] that can simultaneously express motion and vibration. Further, by using the model we apply the design of a new controller that combined proportional integral derivative (PID) with linear quadratic (LQ) control to a flexible rotor. The procedure we propose is verified by simulations as being effective for a flexible rotor.

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