Vibration suppression control of constrained spatial flexible manipulators
نویسندگان
چکیده
For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. W e apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.
منابع مشابه
Mixed Sensitivity H2/H∞ Control of a Flexible-Link Robotic Arm
Dynamics of multi-link manipulators with flexible links include complex high-order equations which make their control problem very challenging. This paper presents a new method for simultaneous motion and vibration control of a twolink flexible manipulator using H2/H∞ control. A multi-element finite element model of the manipulator is casted into the generalized plant model, and H2 and H∞ contr...
متن کاملRobust Vibration Suppression in Flexible Payloads Carried by Robot Manipulators Using Digital Filtering of Joint Trajectories
In this paper, a method for suppressing residual vibrations in flexible payloads, carried by robot manipulators, is proposed and experimentally demonstrated. The proposed method is based on the preconditioning of the robot joint trajectories using FIR digital filters. Several classes of FIR filters such as: a) Parks-McClellan, b) Window-based methods (using Hamming, Hanning, Boxcar, Kaiser, Bar...
متن کاملGravity-Compensated Robust Control for Micro-Macro Space Manipulators During a Rest to Rest Maneuver
Many space applications require robotic manipulators which have large workspace and are capable of precise motion. Micro-macro manipulators are considered as the best solution to this demand. Such systems consist of a long flexible arm and a short rigid arm. Kinematic redundancy and presence of unactuated flexible degrees of freedom, makes it difficult to control micro-macro manipulators. This ...
متن کاملActive 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 کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کامل