Active vibration control of a multilink space flexible manipulator with torque feedback.
نویسندگان
چکیده
منابع مشابه
Stability Analysis of a Multilink Flexible Manipulator: Nonlinear Observers
This paper is concerned with stability analysis problem of nonlinear observer design for a class of multilink flexible manipulators (MLFMs). Specifically, the dynamics of the MLFM is modeled by the use of a Lagrangian approach. In a unified algebraic Riccati matrix equality (ARME) framework, one corresponding error-state system is proven to be asymptotic stable in the mean square (ASMS) for a n...
متن کاملActive vibration control of smart building frames by feedback controllers
In this paper the active vibration control of a four-story shear frame instrumented with piezoelectric actuators is presented. The piezoelectric actuators are hosted on the columns in two manners and the produced controlling forces by actuators are considered in the equation of motion. The smart structure modeling and control design is carried out using MATLAB software in state space form. Subs...
متن کاملVibration Based Control for Flexible Link Manipulator
Robotic manipulators are widely used to help in dangerous, monotonous, and tedious jobs. Most of the existing robotic manipulators are designed and built in a manner to maximize stiffness in an attempt to minimize the vibration of the end-effectors. This high stiffness is achieved by using heavy material and bulky design. Hence, the existing heavy rigid manipulators are shown to be inefficient ...
متن کاملActive Vibration Control of a Flexible Manipulator Using Model Predictive Control and Kalman Optimal Filtering
This article presents an application of the multivariable Model-based Predictive Controller associated to a Kalman filter to damp the mechanical vibrations of a flexible one-link manipulator using state variables feedback. The flexible manipulator, seen as a single input multiple outputs system is modelled using the Lagrange equations. The state space equations are expressed in order to simplif...
متن کاملSingularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator
A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tra...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1990
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.8.171