Vibration control of flexible-link manipulators

Farshad Khorrami, Shihua Zheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Vibration control of flexible-link manipulators is considered. A nonlinear partial differential equation describing the dynamics of a two-link planar manipulator with a flexible forearm is derived. The zero-dynamics of a rigid/flex (hybrid) manipulator are given. Thereafter, different controllers are synthesized. The controller design strategies are based on an inner-loop controller which corresponds to the rigid body motion of the manipulator, taking into consideration the vibrations of the manipulator, and an outer-loop controller for further vibration damping and robustness enhancement of the closed-loop dynamics to parameter variations in the system. The measurements used in the outer-loop controller are obtained through accelerometer and strain gages mounted on the flexible forearm. The control methodologies advocated are applicable to multilink flexible manipulators.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages175-180
Number of pages6
StatePublished - May 1990
EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
Duration: May 23 1990May 25 1990

Other

OtherProceedings of the 1990 American Control Conference
CitySan Diego, CA, USA
Period5/23/905/25/90

Fingerprint

Vibration control
Manipulators
Controllers
Flexible manipulators
Strain gages
Robustness (control systems)
Accelerometers
Vibrations (mechanical)
Partial differential equations
Damping

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Khorrami, F., & Zheng, S. (1990). Vibration control of flexible-link manipulators. In Proceedings of the American Control Conference (pp. 175-180). Publ by American Automatic Control Council.

Vibration control of flexible-link manipulators. / Khorrami, Farshad; Zheng, Shihua.

Proceedings of the American Control Conference. Publ by American Automatic Control Council, 1990. p. 175-180.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Khorrami, F & Zheng, S 1990, Vibration control of flexible-link manipulators. in Proceedings of the American Control Conference. Publ by American Automatic Control Council, pp. 175-180, Proceedings of the 1990 American Control Conference, San Diego, CA, USA, 5/23/90.
Khorrami F, Zheng S. Vibration control of flexible-link manipulators. In Proceedings of the American Control Conference. Publ by American Automatic Control Council. 1990. p. 175-180
Khorrami, Farshad ; Zheng, Shihua. / Vibration control of flexible-link manipulators. Proceedings of the American Control Conference. Publ by American Automatic Control Council, 1990. pp. 175-180
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