Vibration Suppression for a Class of Flexible Manipulator Control with Input Shaping Technique

Author

Liu, Ke-Ping ; Li, Yuan-Chun

Author_Institution

Sch. of Electr. & Electron. Eng., Changchun Univ. of Technol.

fYear

2006

fDate

13-16 Aug. 2006

Firstpage

835

Lastpage

839

Abstract

The input shaping method has been applied to the control of many types of flexible systems. Input shaping is a simple and effective method for reducing the residual vibration when positioning lightly damped systems. A feedback linearization combined with input shaping control approach is proposed for flexible manipulators in this paper. The dynamics of single link flexible manipulators is partially linearized using feedback linearization scheme. Meanwhile, the control scheme is combined with an input shaper for vibration suppression. The reference input signals are pre-shaped to suppress the tip vibration. Simulation results have confirmed the effectiveness of the proposed control method

Keywords

control system synthesis; feedback; flexible manipulators; linearisation techniques; manipulator dynamics; vibration control; feedback linearization scheme; input shaping technique; lightly damped systems; single link flexible manipulator dynamics; vibration suppression; Adaptive control; Control systems; Cybernetics; Linear feedback control systems; Machine learning; Manipulator dynamics; Neural networks; Nonlinear dynamical systems; Nonlinear equations; Shape control; Trajectory; Vibration control; Feedback linearization; Flexible manipulator; Input shaping; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2006 International Conference on

Conference_Location

Dalian, China

Print_ISBN

1-4244-0061-9

Type

conf

DOI

10.1109/ICMLC.2006.258481

Filename

4028178