Vibration control for two-link flexible manipulator using a wrist force sensor.
نویسندگان
چکیده
منابع مشابه
QFT 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...
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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 ...
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The active vibration suppression of a flexible link manipulator using a smart structure (piezoelectric actuator) is investigated. For this purpose, a Finite Element (FE) model is developed for the modal and transient analysis of a cantilever beam and a flexible link manipulator. The novelty of this work is in the development of an accurate finite element model of a piezoelectric and beam/manipu...
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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...
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A new approach to the design of light manipulator arms with long links is proposed in this paper. In contrast with traditional schemes, a flexible link is provided with a special force unloading system (FUS) having electrohydraulic drives. As a result, the static and dynamic errors caused by link structural deflections are minimized. Strategy of control the unloading actuators with measuring st...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1990
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.56.2926