An active damping control of robot manipulators with oscillatory bases by singular perturbation approach

Lin, Jen‐Wei; Huang, Zhipei; Huang, Pei-Hwa

doi:10.1016/j.jsv.2007.03.008

Cited by 36 publications

(23 citation statements)

References 8 publications

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“…In an OIFF system, the same proof procedure can be done to obtain the maximum modal damping (12) and controller gain (13). However, this is not required as the OIFF system can be cast into a CIFF system via a change of variables.…”

Section: Resultsmentioning

confidence: 99%

Optimal integral force feedback for active vibration control

Teo

Fleming

2015

Journal of Sound and Vibration

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a b s t r a c tThis paper proposes an improvement to Integral Force Feedback (IFF), which is a popular method for active vibration control of structures and mechanical systems. Benefits of IFF include robustness, guaranteed stability and simplicity. However, the maximum damping performance is dependent on the stiffness of the system; hence, some systems cannot be adequately controlled. In this paper, an improvement to the classical force feedback control scheme is proposed. The improved method achieves arbitrary damping for any mechanical system by introducing a feed-through term. The proposed improvement is experimentally demonstrated by actively damping an objective lens assembly for a highspeed confocal microscope.

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Section: Resultsmentioning

confidence: 99%

Optimal integral force feedback for active vibration control

Teo

Fleming

2015

Journal of Sound and Vibration

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“…Alternatively, the oscillation of the base can be considered as parametric excitation, where the excitation appears as coefficients in the governing differential equations [1]. The difference between the two modeling strategies is that in the first one the control objective is to achieve suppression of base oscillations [2]. In the second case, the control objective is to reduce the vibrations of the flexible link and maintain the accuracy of the tip position in the presence of sustained parametric excitation.…”

Section: Introductionmentioning

confidence: 99%

“…The control algorithm uses the sensory feedback of the base oscillation to modulate the manipulator actuator input to induce the inertial damping forces. Active damping control problems of robot manipulators with oscillatory bases are considered by Lin et al [2], where a first investigation of two-time scale fuzzy logic controller with vibration stabilizer for such structures has been proposed. Lin and Huang [4] proposed a new hierarchical fuzzy logic controller of mechanical systems with oscillatory bases, where the dynamics of a robotic system is strongly affected by disturbances due to the base oscillation.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation

2010

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This paper presents nonlinear dynamic modeling and control of flexible-link manipulators subjected to parametric excitation. The equations of motion are obtained using the Lagrangian-assumed modes method. Singular perturbation methodology is developed for the nonlinear time varying equations of motion to obtain a reduced-order set of equations. Control strategies, computed torque control and a composite control, based on the singular perturbation formulation developed, are utilized to reduce mechanical vibrations of the flexible-link and enable better tip positioning. Under the composite control technique, the effect of the value of perturbation parameter on the control signal is investigated. Numerical simulations supported by real-time experiments show that the singular-perturbation control methodology developed for the nonlinear time-varying system offers better system response over the computed torque control as the manipulator is commanded to follow a certain trajectory.

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“…Some of these investigations on the control of flexible robot manipulators consider hierarchical fuzzy logic control [20][21][22][23][24][25][26][27][28][29][30][31][32][33][34][35] due to its several advantages over other control techniques. Adaptive network based fuzzy logic control was not taken into consideration for single link flexible robot manipulator in most of the cited investigations despite its some advantage to be indicated in this study.…”

Section: Introductionmentioning

confidence: 99%

“…Lin et al dealt with active damping control problems of robot manipulators with oscillatory bases. A first investigation of two-time scale fuzzy logic controller with vibration stabilizer for such structures was proposed, where the dynamics of a robotic system was strongly affected by disturbances due to the base oscillation [33,34].…”

Section: Introductionmentioning

confidence: 99%

Hierarchical adaptive network based fuzzy logic controller design for a single flexible link robot manipulator

Kalyoncu

Tınkır

2008

2008 13th International Power Electronics and Motion Control Conference

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In this study, hier ar chical adaptive networ k based fuzzy logic controller for a single flexible link r obot manipulator is designed. This study is aimed to get the end of the flexible r obot manipulator to desir ed position and ter minate vibr ations on ar m while it moves under the action of an exter nal dr iving tor que. The pr oposed controller has two subsystems. The fast-subsystem r educes the vibr ation of the flexible r obot manipulator end point, and the other slow-subsystem controller contr ols the desired position. The per for mance of the pr oposed control system is evaluated on the basis of the exper imental r esults.

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An active damping control of robot manipulators with oscillatory bases by singular perturbation approach

Cited by 36 publications

References 8 publications

Optimal integral force feedback for active vibration control

Optimal integral force feedback for active vibration control

Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation

Hierarchical adaptive network based fuzzy logic controller design for a single flexible link robot manipulator

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