Control of vibrations for a parallel manipulator with flexible links — concepts and experimental results
نویسندگان
چکیده
منابع مشابه
Hybrid Concepts of the Control and Anti-Control of Flexible Joint Manipulator
This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...
متن کاملMulti-mode Vibration Control and Position Error Analysis of Parallel Manipulator with Multiple Flexible Links
This paper presents multi-mode vibration control and analysis of moving platform position errors of a planar 3-PRR parallel manipulator with three flexible intermediate links using PZT transducers. The active vibration controller is designed in modal space with modal filters and modal synthesizers determined from the flexible link vibration characteristics. Estimation of the moving platform pos...
متن کاملhybrid concepts of the control and anti-control of flexible joint manipulator
this paper presents a gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. to study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. the adaptation laws of designed controller are obtained based on sliding m...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملSingular perturbation based neuro-Hinfty control scheme for a manipulator with flexible links and joints
A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems. A neural network controller is then applied for the slow subsystem and a state-feedback H∞ controller for the fast subsystem. Results are presented that demonstrate impro...
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ژورنال
عنوان ژورنال: Journal of Physics: Conference Series
سال: 2016
ISSN: 1742-6588,1742-6596
DOI: 10.1088/1742-6596/744/1/012069