Ibration Control of a Single Flexible-Link Flexible-Joint (FLFJ) Manipulator using Time Delay

Author

Dong, Yuan ; Jnifene, Amor

Author_Institution

Dept. of Mech. Eng., Ottawa Univ., Ont.

fYear

2006

fDate

38838

Firstpage

1176

Lastpage

1179

Abstract

The paper presents the results of a time delay-based active vibration control of a single flexible-link flexible-joint (FLFJ) manipulator. The control system is composed of two nested feedback loops; the inner loop is designed to eliminate any excessive vibrations and uses an approach based on time delay as a vibration absorber while the outer loop, consisting of a modified PD controller is used to make the angular position of the manipulator track a predefined trajectory. A simple experiment was developed to test the proposed control system. The proposed control system was also compared with (LQR) to demonstrate its superiority

Keywords

PD control; control system synthesis; delays; feedback; flexible manipulators; vibration control; PD controller; feedback loop; flexible-link flexible-joint manipulator; time delay; vibration control; Aerodynamics; Aerospace industry; Control systems; Delay effects; Educational institutions; Manipulator dynamics; Mechanical engineering; PD control; Shafts; Vibration control; Flexible Structures; Time Delay; Vibration Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2006. CCECE '06. Canadian Conference on

Conference_Location

Ottawa, Ont.

Print_ISBN

1-4244-0038-4

Electronic_ISBN

1-4244-0038-4

Type

conf

DOI

10.1109/CCECE.2006.277346

Filename

4055093