Experimental Evaluation of Preshaped Inputs to Reduce Vibration for Flexible Manipulator

Author

Liu, Ke-Ping

Author_Institution

Changchun Univ. of Technol., Changchun

Volume

4

fYear

2007

fDate

19-22 Aug. 2007

Firstpage

2411

Lastpage

2415

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMLC.2007.4370549

Filename

4370549