Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

Kim, Sang-Myeong; Kim, Heungseob; Boo, Kwangsuck; Brennan, M.J.

doi:10.1088/0964-1726/22/12/127001

Cited by 12 publications

(6 citation statements)

References 13 publications

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“…e measured hub and tip responses for all three cases are then compared in Figures 11(a) and 11(b) to clearly demonstrate the damping e ect η e . An additional case was also tested using an arbitrarily large k 50 (N•m/rad) and a small c 0.03 (N•m•s/rad), and the results (thick dotted) are also overlaid to illustrate how large vibrations could be induced when the gains were inappropriately chosen [7,13]. e performance of the control system was nally examined in the time domain but now with a step input of 20°t o the reference input V 0 while setting V dis 0. e hub displacements and the tip accelerations for the three test cases are compared in Figures 12(a) and 12(b), respectively.…”

Section: Experimental Performancementioning

confidence: 99%

“…ere are various methods to tackle vibration problems of a flexible manipulator system [1], which is a servo machine having a flexible joint or link. ey include tuning methods of PD (proportional-derivative) gains [2] and PID (proportionalintegral-derivative) gains [3]; feedforward control methods using various filters including input shaping [4], notch [5], and inverse [6] filters; and feedback control methods using additional vibration sensors such as an accelerometer [7]. Amongst, the PD-tuning method is the simplest and is of interest throughout this paper.…”

Section: Introductionmentioning

confidence: 99%

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Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System

Kim

Boo

2018

Shock and Vibration

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A study is presented in this paper that uses a simple mechanical analogy to analytically tune the PD (proportional-derivative) controller of a linear flexible manipulator system. More specifically, the aim is to give simple closed-form solutions of the optimal P and D gains to yield the maximum bandwidth under a given damping requirement or conversely the maximum damping under a given bandwidth requirement. The idea of this study is based on the observation that the performance of the complete manipulator system is largely determined by the operational dynamics of the fundamental vibration mode. A lumped element method is thus applied to model this dynamics in terms of simple lumped mechanical elements. It subsequently turns out that the original servo control problem is analogous to a conventional Zener mount design problem, that is, mathematically, to optimize a third-order dynamic system consisting of the Zener model of a viscoelastic mount and an inertial object upon it. A design methodology is finally established to analytically determine the optimal elements of the mount, corresponding to the optimal control gains. Simulations and experiments were also conducted with a single-link flexible beam to support the model and the design methodology developed.

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Section: Experimental Performancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System

Kim

Boo

2018

Shock and Vibration

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“…Intelligent level of modern engineering machinery is higher and higher, with the unprecedented development of the general electronic technology and that computer control technology, electrical components used in engineering machinery is more and more widely, the performance of the electrical components quality and electrical system layout is reasonable affect the performance of the whole machine is becoming more and more obvious, not only affect the maneuverability and stability, and even play a key role on the safety of the whole machine [6]. The basic characteristics of machine tool electrical system can be organized as the follows.…”

Section: Electrical Control Systemmentioning

confidence: 99%

Research on the Electrical Control System Building Mode based on Particle Swarm Optimization

Hu¹

2016

Advanced Science and Technology Letters

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Abstract. In this paper, we conduct research on the electrical control system building mode based on the particle swarm optimization. Electrical control technology is mainly with the continuous development of the science and the technology, production technology is gradually appear new requirements, mainly from manual control to automatic control, from simple to the complex control and control devices, and as the storage system to the computer control system from the hard connection control of contact center. Due to simplify each particle in the particle swarm algorithm using the same evolutionary iteration formula makes the difference between in the late evolutionary particle is not strong, the algorithm is prone to premature and slow search speed. In the research, we optimize the traditional PSO to achieve the optimal solution.

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“…Gatti conducted active damping of a beam using a physically collocated accelerometer and piezoelectric patch actuators (Gatti et al , 2007). Kim presented an experimental study in suppressing vibration of flexible manipulators based on electrical dynamic absorbers and accelerometers (Kim et al , 2013). Although accelerometers have been used as sensors in flexible structures, little research applying accelerometers in multi-link flexible-joint manipulators has been carried out because accelerometers are often subject to orientation errors in gravity field.…”

Section: Introductionmentioning

confidence: 99%

Active vibration control of flexible-joint manipulators using accelerometers

Zhao¹,

Zhou²

2019

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Purpose Manipulators are often subjected to joint flexibility caused by various causes in industrial applications, such as shaft windup, harmonic drives and bearing deformation. However, many industrial robots are only equipped with motor-side encoders because link-side encoders and torque transducers are expensive. Because of joint flexibility and resulted slow response rate, control performance of these manipulators is very limited. Based on this, the purpose of this paper is to use easy-to-install and cheap accelerometers to improve control performance of such manipulators. Design/methodology/approach First, a novel tip-acceleration feedback method is proposed to avoid amplifications of approximation errors caused by inversion of the Jacobian matrix. Then, a new control scheme, consisting an artificial neural network, a proportional-derivative (PD) controller and a reference model, is proposed to track motor-side position and suppress link-side vibration. Findings By using the proposed tip-acceleration feedback method, each link’s vibration can be suppressed correlatively. Through the networks, smaller motor-side tracking errors can be obtained and unknown dynamics can be compensated. Tracking and convergence performance of the network-based system can be improved by using the additional PD controller. Originality/value The originality is based on using accelerometers to improve link-side vibration suppression and control performance of flexible-joint manipulators. The previously used methods need expensive link-side sensors or accurate robot model, which is unavailable for many industrial robots only equipped with motor-side encoders. The report proposed a novel acceleration feedback method and used networks to solve such problems.

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Demonstration of non-collocated vibration control of a flexible manipulator using electrical dynamic absorbers

Cited by 12 publications

References 13 publications

Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System

Use of a Simple Mechanical Analogy to Analytically Tune the PD Controller of a Flexible Manipulator System

Research on the Electrical Control System Building Mode based on Particle Swarm Optimization

Active vibration control of flexible-joint manipulators using accelerometers

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