Active control of robotic manipulators vibration via feedback control

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Moradi, H ; Sharif University of Technology

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Type of Document: Article
Abstract:
In this paper, a robotic manipulator modelled as a cantilever rotating Euler-Bernoulli beam is considered. Control objective is achieving a desired angular rotation of the manipulator tip while its lateral vibration is suppressed. An external driving torque is the control input of the system. Two dynamic transfer functions are derived to describe beam tip motion and angular rotation in terms of the desired angular rotation. After state-space representation of the problem, an observer is designed to estimate state variables of the system. Then, a feedback control is designed for both regulation and tracking objectives. Eigenvalues are chosen such that an appropriate response is achieved while the gains of feedback matrix remain small simultaneously. Results show that disturbance rejection and trajectory tracking performance are achieved
Keywords:
Active control ; Angular rotations ; Control inputs ; Control objectives ; Eigenvalues ; Euler Bernoulli beams ; External driving ; Feedback matrices ; Lateral vibrations ; Robotic manipulators ; State space representation ; State variables ; Trajectory tracking ; Eigenvalues and eigenfunctions ; Feedback control ; Flexible manipulators
Source: 17th International Congress on Sound and Vibration 2010, ICSV 2010, 18 July 2010 through 22 July 2010 ; Volume 1 , 2010 , Pages 464-471 ; 9781617822551 (ISBN)