S&V 2020 Intelligent manipulator with flexible link and joint - Modeling and vibration contro.pdf (2.33 MB)
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Intelligent manipulator with flexible link and joint: modeling and vibration control

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journal contribution
posted on 04.02.2020, 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.

Funding

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

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

Shock and Vibration

Volume

2020

Publisher

Hindawi Limited

Version

VoR (Version of Record)

Rights holder

© the Authors

Publisher statement

This is an Open Access Article. It is published by Hindawi Limited under the Creative Commons Attribution 4.0 Unported Licence (CC BY). Full details of this licence are available at: http://creativecommons.org/licenses/by/4.0/

Acceptance date

02/01/2020

Publication date

2020-01-31

Copyright date

2020

ISSN

1070-9622

eISSN

1875-9203

Language

en

Depositor

Prof Vadim Silberschmidt Deposit date: 4 February 2020

Article number

4671358

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