Position and vibration control of a flexible robot manipulator using hybrid controller

Park, Hyung-Wug; Yang, Hyunseok; Park, Young−Pil; Kim, S. H.

doi:10.1016/s0921-8890(99)00027-5

Cited by 27 publications

(10 citation statements)

References 6 publications

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“…However, discussion regarding these systems usually focuses on vibration-suppression control for the flexible structures. Thus, the majority of existing literature examines the effectiveness of various control methods in active vibration suppression [4][5][6][7][8]. Tso et al [4] employed proportional-derivative (PD) control to actively suppress the vibrations in a single-axis flexible robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

“…Ahmad et al [6] combined fuzzy control with PD control and input shaping control for the tracking and control of deflection in flexible robot manipulators. Park et al [7] combined fuzzy controller design with H-infinity control to enhance system robustness in reducing vibrations in a single-axis flexible robot manipulator during positioning. Lin and Chao [8] combined a flexible beam with a beam-cart system to investigate vibration responses during cart motion.…”

Section: Introductionmentioning

confidence: 99%

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Active Vibration Suppression of a Motor-Driven Piezoelectric Smart Structure Using Adaptive Fuzzy Sliding Mode Control and Repetitive Control

Lin

Jheng

2017

Applied Sciences

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Abstract:In this paper, we report on the use of piezoelectric sensors and actuators for the active suppression of vibrations associated with the motor-driven rotation of thin flexible plate held vertically. Motor-driven flexible structures are multi-input multi-output systems. The design of active vibration-suppression controllers for these systems is far more challenging than for flexible structures with a fixed end, due to the effects of coupling and nonlinear vibration behavior generated in structures with poor damping. To simplify the design of the controller and achieve satisfactory vibration suppression, we treated the coupling of vibrations caused by the rotary motion of the thin flexible plate as external disturbances and system uncertainties. We employed an adaptive fuzzy sliding mode control algorithm in the design of a single-input-single-output controller for the suppression of vibrations using piezoelectric sensors and actuators. We also used a repetitive control system to reduce periodic vibrations associated with the repetitive motions induced by the motor. Experimental results demonstrate that the hybrid intelligent control approach proposed in this study can suppress complex vibrations caused by modal excitation, coupling effects, and periodic external disturbances.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Active Vibration Suppression of a Motor-Driven Piezoelectric Smart Structure Using Adaptive Fuzzy Sliding Mode Control and Repetitive Control

Lin

Jheng

2017

Applied Sciences

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“…Now, the devices are used in linear and rotary motion applications requiring high acceleration, high frequency actuation, and flat force and displacement output. Typical applications for voice coils include head positioning in computer hard disk drives, X and Y positioning stages for machine tools; semiconductor fabrication and packaging and so on [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

The technology and application of voice coil actuator

Feng

Duan

et al. 2011

2011 Second International Conference on Mechanic Automation and Control Engineering

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Based on the Lorentz Force Principle, voice coil actuator is a new-style versatile direct drive motors with special structure. Easy to be controlled, with high acceleration, high speed, high reliability, pony size, smooth force and fast actuation make it an ideal replacement for conventional electric motor. In this paper, the operation principle of voice coil actuator is expatiated, its sizing is discussed. And its current application fields is detailed.

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“…Kubica and Wang (1999) designed a fuzzy strategy for controling the rigid body and the first flexural mode of vibration in a single-link robotic arm by designing a separate controller for each. Park et al (1999) used an FLC for the joint, combined with a voice coil type actuator using an H 2 control scheme, to create a controller for single-link flexible manipulators. Chen and Yin (1999) used the phase portrait plane to build rules based on mathematical reasoning, rather than the conventional trial and error method, which is dependent on the operator's experience.…”

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics Based Tuning of a Fuzzy Logic Controller for a Single-Link Flexible Manipulator

Renno

2007

Journal of Vibration and Control

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Since its introduction to engineering applications, fuzzy logic has attracted many researchers because of its simplicity and robustness. Experience with a system is translated into heuristic rules which can be used to control that system. This article proposes a novel method for a generalized inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The deflection of the flexible link was modeled using the assumed modes method. The control action is distributed between two FLCs: A joint angle controller and a tip controller. Each controller produces a torque value. The torque values are summed, and the resulting control action is used to drive the manipulator. A novel method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. The relative shapes and distribution of the fuzzy membership sets (with respect to each other) are kept fixed. Simulation results show that joint trajectory tracking is accomplished, and that the residual vibration of the flexible link is suppressed.

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Position and vibration control of a flexible robot manipulator using hybrid controller

Cited by 27 publications

References 6 publications

Active Vibration Suppression of a Motor-Driven Piezoelectric Smart Structure Using Adaptive Fuzzy Sliding Mode Control and Repetitive Control

Active Vibration Suppression of a Motor-Driven Piezoelectric Smart Structure Using Adaptive Fuzzy Sliding Mode Control and Repetitive Control

The technology and application of voice coil actuator

Inverse Dynamics Based Tuning of a Fuzzy Logic Controller for a Single-Link Flexible Manipulator

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