Active-Force Control on Vibration of a Flexible Single-Link Manipulator Using a Piezoelectric Actuator

Abstract

The purposes of this research are to formulate the equations of motion of the system, to develop computational codes by a finite-element method in order to perform dynamics simulation with vibration control, to propose an effective control scheme using three control strategies, namely active-force (AF) proportional (P), and proportional-derivative (PD) controls and to confirm the calculated results by experiments of a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, Fast Fourier Transform (FFT) processing and eigenvalues-eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, the AF, P, and PD controls strategies were designed and compared their performances through calculations and experiments. The calculated and experimental results showed the superiority of the proposed AF control compared to the P and PD ones to suppress the vibration of the flexible link manipulator.

Dynamic Modeling of a Single-Link Flexible Manipulator Robot With Translational and Rotational Motions

“…The beam on VL moves rotationally. Still, on the SLFM, Muhammad et al [12][13][14][15] carried out comprehensive simulations and experiments with the FEM, PD, and AF control approaches to vibration on the SLFM. They [16][17][18] also added a piezoelectric actuator on aluminium-based links, which generate stress on two Degrees of Freedom (DOF).…”