Vibration Suppression of Robots with Both Flexible Joints and Flexible Arms
نویسندگان
چکیده
منابع مشابه
Active Vibration Suppression of a Nonlinear Flexible Spacecraft
In this article, the issue of attitude control and active vibration suppression of a nonlinear flexible spacecraft is assessed through piezoelectric patches as actuator and sensors. Two controller loops are applied: the inner loop, to make the panel vibration damped through piezoelectric patches; and the outer loop, to perform spacecraft maneuver using the reaction wheel acting on the hub. An o...
متن کاملControl of Flexible Robots with Prismatic Joints and Hydraulic Drives"
The design and control of R. L. Kress Oak Ridge National Laboratory Robotics and Process Systems Division P. 0. Box 2008 Oak Ridge, Tennessee 37831-6426
متن کاملActive vibration suppression of a flexible link
The active vibration suppression of a single flexible link manipulator using a 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. A proportional control strategy is employed in a FE model to adjust the voltage applied to the piezoelectric actuator so as to c...
متن کاملDynamics of Space Free-Flying Robots with Flexible Appendages
A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...
متن کاملFlexible Objects Vibration Control and Handling Using Dd Robot Arms
This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration meas...
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: Transactions of the Institute of Systems, Control and Information Engineers
سال: 1995
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.8.708