VIBRATION REDUCTION ON SINGLE-LINK FLEXIBLE MANIPULATOR USING H<sub>∞ </sub>CONTROL
نویسندگان
چکیده
منابع مشابه
Vibration 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 ...
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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 presents investigations into the development of control schemes for end-point vibration suppression and input tracking of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assumed mode method. To study the effectiveness of the controllers, a Linear Quadratic Regulator (LQR) was initiall...
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This paper presents the design of PD-type fuzzy logic controller (PDFLC) for vibration control of a single-link flexible manipulator system. A flexible manipulator system is a SIMO system with motor torque as the applied input and the hub angle and tip deflection as its two outputs. The system is modelled using the finite element method. The PDFLC have two inputs, the hub angle error and its de...
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A device which comprises three parts, electromotor, screw and cable, is proposed to suppress the vibration of a single-link flexible manipulator. The manipulator acted on jointly by the device and the load at manipulator’s end-effector is modeled as a cantilever beam with three concentrated loads at two end-points and midpoint. By taking the exserted length of the screw as control variable, the...
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ژورنال
عنوان ژورنال: Journal of the Indonesian Mathematical Society
سال: 2012
ISSN: 2460-0245,2086-8952
DOI: 10.22342/jims.14.2.52.73-82