Suppression of residual vibration of a translating–swinging load by a flexible manipulator

Kapucu, Sadettin; Yıldırım, Nihat; Yavuz, Hakan; Bayseç, Sedat

doi:10.1016/j.mechatronics.2007.10.007

Cited by 16 publications

(13 citation statements)

References 12 publications

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“…1. The experimental setup consists of a compound pendulum bonded to the sliding member (cart) fixed on the horizontal position of the hydraulically driven Stanford type manipulator, details of which are presented by Kapucu [29].…”

Section: Methodsmentioning

confidence: 99%

“…In the further sections of the presented work, the simulation and the experimental results of the new methods have been presented. In order to demonstrate the effectiveness of the proposed technique, the simulation and experimental results are compared with the results reported by Kapucu et al [29]. The simulation and the experimental results show that the residual vibrations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding the system parameters.…”

Section: Introductionmentioning

confidence: 91%

“…The model neglects the Coulomb friction of the joint and assumes that the manipulator is working in the horizontal plane and the pendulum in a vertical plane. Then, the equations of motion of the flexible system are [29]:…”

Section: Modelling Of the Systemmentioning

confidence: 99%

“…In the proposed approach, the distance to be travelled by the system is primarily divided into two equal parts. In the generation of each of the input signals, cycloid-plus-ramped and versine-plus-ramp functions are used [29]; then these two signals are joined to form the input signal applied to the system used in the elimination of residual vibration. Hence, a more robust method is obtained in reducing the residual vibrations.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

Conker¹,

Kılıç²,

Mıstıkoğlu³

et al. 2014

SV-JME

Self Cite

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One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 91%

Section: Modelling Of the Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

Conker¹,

Kılıç²,

Mıstıkoğlu³

et al. 2014

SV-JME

Self Cite

View full text Add to dashboard Cite

show abstract

“…Lightly damped vibrating structures or, as they are often referred to flexible systems, can be regarded as a specific engineering problem in active vibration control and are treated as such in numerous academic works [2,3,6,15,16,26,32,38,41,46,53,54,63,80,87]. The laboratory device considered in this work is also a lightly damped flexible system and it consists of a clamped beam with a free end which is equipped with actuators and sensors to form an active structure.…”

Section: Experimental Devicementioning

confidence: 99%

Laboratory Demonstration Hardware for AVC

Takács

Rohal’-Ilkiv

2012

Model Predictive Vibration Control

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Vibration Suppression of a 3-DOF Parallel Manipulator Based on Single-Mode Input Shaping Combined with PD

Wei

2016

Lecture Notes in Electrical Engineering

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Suppression of residual vibration of a translating–swinging load by a flexible manipulator

Cited by 16 publications

References 12 publications

An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

Laboratory Demonstration Hardware for AVC

Vibration Suppression of a 3-DOF Parallel Manipulator Based on Single-Mode Input Shaping Combined with PD

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