scholarly journals Analysis of Feature Tracking Methods for Vision-Based Vibration Damping of Flexible Link Robots

2018 ◽  
Author(s):  
Florian Pucher ◽  
Hubert Gattringer ◽  
Andreas Müller
Keyword(s):  
Feature Tracking ◽  
Vibration Damping ◽  
Flexible Link ◽  
Flexible Link Robots

Vibration Damping of Flexible Link Robots Using an Eye-in-Hand Camera

PAMM ◽  
2017 ◽  
Vol 17 (1) ◽  
pp. 163-164
Author(s):  
Florian Pucher ◽  
Hubert Gattringer ◽  
Andreas Müller
Keyword(s):  
Vibration Damping ◽  
Flexible Link ◽  
Flexible Link Robots

Delayed Reference Control Applied to Flexible Link Mechanisms: A Scheme for Effective and Stable Control

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
Giovanni Boschetti ◽  
Dario Richiedei ◽  
Alberto Trevisani
Keyword(s):  
Vibration Control ◽  
Vibration Damping ◽  
Flexible Link ◽  
Damping Force ◽  
Flexible Links ◽  
Equivalent Damping ◽  
The Stability ◽  
Delayed Time ◽  
Reference Input ◽  
Stable Control

This paper extends the use of delayed reference controllers to the simultaneous motion and vibration control of flexible link mechanisms. Vibration damping is achieved by introducing an “equivalent damping force” into the system through the computation of a suitable delayed time. The delayed time, which is based on the measured vibrations, is then employed in the trajectory planner to set the reference input. The stability of the controller is discussed and its effectiveness is proved by applying it to a four-bar planar linkage with flexible links.

Robust Control of Three-Dimensional Compliant Mechanisms

2016 ◽  
Vol 138 (10) ◽  
Author(s):  
Erfan Shojaei Barjuei ◽  
Paolo Boscariol ◽  
Renato Vidoni ◽  
Alessandro Gasparetto
Keyword(s):  
Control Systems ◽  
Position Control ◽  
Compliant Mechanisms ◽  
Mass Density ◽  
Three Dimensional ◽  
Vibration Damping ◽  
Flexible Link ◽  
External Disturbances ◽  
Uncertainty Model ◽  
Open Issues

Position control and vibration damping of flexible-link mechanisms are still challenging open issues in robotics. Finding solutions for these problems can lead to improvement in the operation and accuracy of the manipulators. In this paper, the synthesis of robust controllers based on H∞ loop shaping and μ-synthesis for both position control and vibration damping in a spatial flexible L-shape mechanism with gravity is presented. The design of the controllers is based on the evaluation of an uncertainty model which takes into account a ±20% uncertainty in the elasticity and mass density of the links. The response of each controller is tested also in the presence of external disturbances with the aid of highly accurate numerical simulations; furthermore, a comparison between the robust performances of synthesized controllers is presented in order to show the effectiveness of synthesized control systems.

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