Title :
Experimental Evaluation of Preshaped Inputs to Reduce Vibration for Flexible Manipulator
Author_Institution :
Changchun Univ. of Technol., Changchun
Abstract :
Dynamics of multi-link manipulators are highly nonlinear. Furthermore, the vibration frequencies of flexible manipulators are configuration-dependent. In this paper, a feedback linearization combined with input shaping control approach is proposed for flexible manipulators. 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. Experimental results for a single-link flexible manipulator are provided to validate the effectiveness of the advocated controllers.
Keywords :
feedback; flexible manipulators; linearisation techniques; manipulator dynamics; nonlinear control systems; vibration control; feedback linearization; flexible manipulator; input shaping control approach; multilink manipulator dynamics; nonlinear control system; vibration suppression; Adaptive control; Cybernetics; Equations; Linear feedback control systems; Machine learning; Manipulator dynamics; Neural networks; Nonlinear dynamical systems; Shape control; Vibration control; Feedback linearization; Flexible manipulator; Input shaping technique; Vibration reduction;
Conference_Titel :
Machine Learning and Cybernetics, 2007 International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4244-0973-0
Electronic_ISBN :
978-1-4244-0973-0
DOI :
10.1109/ICMLC.2007.4370549
