Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control
Joint Authors
Silberschmidt, Vadim V.
Shao, Minqiang
Huang, Yuming
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-01-31
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design.
The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model.
In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted.
Additionally, a LQR controller is designed based on the output function of the improved model.
The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.
American Psychological Association (APA)
Shao, Minqiang& Huang, Yuming& Silberschmidt, Vadim V.. 2020. Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control. Shock and Vibration،Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1209938
Modern Language Association (MLA)
Shao, Minqiang…[et al.]. Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control. Shock and Vibration No. 2020 (2020), pp.1-15.
https://search.emarefa.net/detail/BIM-1209938
American Medical Association (AMA)
Shao, Minqiang& Huang, Yuming& Silberschmidt, Vadim V.. Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control. Shock and Vibration. 2020. Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1209938
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1209938