An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

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dc.authoridYAVUZ, Hakan/0000-0002-6166-0921
dc.authoridMISTIKOGLU, SELCUK/0000-0003-2985-8310
dc.authoridKapucu, Sadettin/0000-0002-7061-9672
dc.authoridConker, Caglar/0000-0002-1923-9092
dc.contributor.authorConker, Caglar
dc.contributor.authorKilic, Ali
dc.contributor.authorMistikoglu, Selcuk
dc.contributor.authorKapucu, Sadettin
dc.contributor.authorYavuz, Hakan
dc.date.accessioned2024-09-18T20:55:45Z
dc.date.available2024-09-18T20:55:45Z
dc.date.issued2014
dc.departmentHatay Mustafa Kemal Üniversitesien_US
dc.description.abstractOne 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.en_US
dc.identifier.doi10.5545/sv-jme.2014.1698
dc.identifier.endpage599en_US
dc.identifier.issn0039-2480
dc.identifier.issue9en_US
dc.identifier.scopus2-s2.0-84907195192en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage592en_US
dc.identifier.urihttps://doi.org/10.5545/sv-jme.2014.1698
dc.identifier.urihttps://hdl.handle.net/20.500.12483/12033
dc.identifier.volume60en_US
dc.identifier.wosWOS:000341959100006en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherAssoc Mechanical Engineers Technicians Sloveniaen_US
dc.relation.ispartofStrojniski Vestnik-Journal of Mechanical Engineeringen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectresidual vibrationen_US
dc.subjectinput shapingen_US
dc.subjectflexible-joint manipulatoren_US
dc.subjectcommand shapingen_US
dc.titleAn Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulatorsen_US
dc.typeArticleen_US

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