Intelligent manipulator with flexible link and joint: modeling and vibration control
journal contributionposted on 2020-02-04, 13:46 authored by Minqiang Shao, Yuming Huang, Vadim SilberschmidtVadim Silberschmidt
This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.
National Natural Science Foundation of China under Grant no. 11402111
Jiangsu Foundation of China under Grant no. BK20140809
Key Laboratory Foundation under Grant no. 614291102010217
Fundamental Research Funds for the Central Universities under Grant no. NS2014004
- Mechanical, Electrical and Manufacturing Engineering