An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators
Yükleniyor...
Dosyalar
Tarih
2014
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Assoc Mechanical Engineers Technicians Slovenia
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.
Açıklama
Anahtar Kelimeler
residual vibration, input shaping, flexible-joint manipulator, command shaping
Kaynak
Strojniski Vestnik-Journal of Mechanical Engineering
WoS Q Değeri
Q3
Scopus Q Değeri
Q2
Cilt
60
Sayı
9
