Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors
Joint Authors
Bottega, Valdecir
Fonseca, Jun S. Ono
Molter, Alexandre
Pergher, Rejane
Source
Mathematical Problems in Engineering
Issue
Vol. 2009, Issue 2009 (31 Dec. 2009), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-07-14
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
This work presents a tracking control model for a flexible nonprismatic link robotic manipulator using simultaneously motor torques and piezoelectric actuators.
The dynamic model of the flexible manipulator is obtained in a closed form through the Lagrange equations.
The control uses the motor torques for the joints tracking control and also to reduce the low-frequency vibration induced in the manipulator links.
The stability of this control is guaranteed by the Lyapunov stability theory.
Piezoelectric actuators and sensors are added for controlling vibrations with frequencies beyond the reach of motor torque control.
The naturals frequencies are calculated by the finite element method, and the approximated eigenfunctions are interpolated by polynomials.
Three eigenfunctions are used for the dynamics of the arm, while only two are used for the control.
Numerical experiments on Matlab/Simulink are used to verify the efficiency of the control model.
American Psychological Association (APA)
Bottega, Valdecir& Molter, Alexandre& Fonseca, Jun S. Ono& Pergher, Rejane. 2009. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors. Mathematical Problems in Engineering،Vol. 2009, no. 2009, pp.1-16.
https://search.emarefa.net/detail/BIM-493841
Modern Language Association (MLA)
Bottega, Valdecir…[et al.]. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors. Mathematical Problems in Engineering No. 2009 (2009), pp.1-16.
https://search.emarefa.net/detail/BIM-493841
American Medical Association (AMA)
Bottega, Valdecir& Molter, Alexandre& Fonseca, Jun S. Ono& Pergher, Rejane. Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors. Mathematical Problems in Engineering. 2009. Vol. 2009, no. 2009, pp.1-16.
https://search.emarefa.net/detail/BIM-493841
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-493841