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Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model
Yang TW(杨唐文); Qin Y(秦勇); Han JD(韩建达)
Department机器人学研究室
Conference Name3rd International Conference on Cognitive Systems and Information Processing, ICCSIP 2016
Conference DateNovember 19, 2016 - November 23, 2016
Conference PlaceBeijing, China
Source PublicationCommunications in Computer and Information Science
PublisherSpringer Verlag
Publication PlaceSingapore
2016
Pages425-442
Indexed ByEI ; CPCI(ISTP)
EI Accession number20173204020357
WOS IDWOS:000432311900042
Contribution Rank3
ISSN1865-0929
ISBN978-981-10-5230-9
KeywordFlexible Robotic Arm Lumped Dynamic Model Vibration Control Wave Absorption
AbstractA wave absorption control strategy is proposed to suppress vibration at the distal end of a flexible robotic arm while achieving accurate position control. It assumes the flexible arm with an actuator at one end and a load at the other, and interprets the arm’s dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is thus resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added subsequently. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The properties of the control scheme proposed are studied throughout. It works very well under uncertainty, and is stable and robust, for tip positioning and trajectory tracking control, as demonstrated in the numerical results.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20819
Collection机器人学研究室
Corresponding AuthorYang TW(杨唐文)
Affiliation1.Institute of Information Science, Beijing Jiaotong University, Beijing, 100044, China
2.State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, 100044, China
3.State Key Laboratory of Robotics Shenyang Institute of Automation, CAS, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Yang TW,Qin Y,Han JD. Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model[C]. Singapore:Springer Verlag,2016:425-442.
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