Title :
Dynamics and distributed vibration controls of flexible manipulators; integrated distributed sensing and active piezoelectric actuator
Author :
Tzou, H.S. ; Wan, G.C. ; Tseng, C.I.
Author_Institution :
Dept. of Mech. Eng., Kentucky Univ., Lexington, KY, USA
Abstract :
An integrated distributed vibration actuator design for elastic flexible robot structures is presented. The proposed distributed sensor and actuator is a layer or multilayer of piezoelectric polymer directly attached to the flexible component needed to be monitored and controlled. The integrated piezoelectric sensor/controller can monitor the oscillation as well as actively and directly constrain the undesirable oscillation of the flexible robot arm by direct/converse piezoelectric effects, respectively. An experimental model and a finite-element simulation are studied, and the effectiveness is evaluated
Keywords :
digital simulation; distributed control; finite element analysis; piezoelectric devices; robots; vibration control; active control; distributed control; distributed sensing; finite-element simulation; flexible manipulators; oscillations control; piezoelectric actuator; piezoelectric polymer; robots; vibration controls; Damping; Distributed control; Electromechanical sensors; Manipulator dynamics; Mechanical sensors; Piezoelectric effect; Robot sensing systems; Sensor phenomena and characterization; Shock absorbers; Vibration control;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100223
