Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator

Abstract EN

Active vibration control of an axially translating robot arm with rotating-prismatic joint using self-sensing actuator is investigated.

The equations of the system are derived by Lagrange’s equation with the assumed mode method.

The displacement and velocity control law is used to configure the self-sensing actuator, which provides the active damping and stiffness effect to the structure.

The numerical simulations reveal that the tip deflection of the arm can be effectively reduced by the self-sensing actuator.

The amplitude of sensor voltage is inversely proportional to the length of axiallytranslating arm.

And higher feedback control gain results in lower sensor voltages and vibration amplitudes.