Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator
Joint Authors
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-01-15
Country of Publication
Egypt
No. of Pages
11
Main Subjects
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.
American Psychological Association (APA)
Zhao, Liang& Hu, Zhen-Dong. 2015. Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator. Shock and Vibration،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1078418
Modern Language Association (MLA)
Zhao, Liang& Hu, Zhen-Dong. Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator. Shock and Vibration No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1078418
American Medical Association (AMA)
Zhao, Liang& Hu, Zhen-Dong. Active Vibration Control of an Axially Translating Robot Arm with Rotating-Prismatic Joint Using Self-Sensing Actuator. Shock and Vibration. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1078418
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1078418