Implementation of Active and Passive Vibration Control of Flexible Smart Composite Manipulators with Genetic Algorithm

Uyar, Mehmet; Malgaca, Levent

doi:10.1007/s13369-022-07279-2

Cited by 5 publications

(9 citation statements)

References 35 publications

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“…If the model extraction method is summarized for a multi-degree of mechanical freedom system, 23 the equation of motion is given in equation ( 1)…”

Section: Extracting State Space Models From Ansysmentioning

confidence: 99%

“…Then, the system matrices are obtained by following the steps given below for the use of the ''SPMWRITE'' command in the model extraction method based on modal analysis. [22][23][24] Step 1: Definition of inputs and outputs: For the inputs and outputs defined for the manipulator, a table is first created with the macro code given below. *dim,inputTab,,1,2 *dim,inputLab,char,1 inputTab(1,1)=revolute_joint_element_number inputTab(1,2)=6 !…”

Section: Extracting State Space Models From Ansysmentioning

confidence: 99%

“…Then, the system matrices are obtained by following the steps given below for the use of the “SPMWRITE” command in the model extraction method based on modal analysis. 22–24…”

Section: Modeling Of Composite Manipulatormentioning

confidence: 99%

“…Then, harmonic inputs were applied to the SS model to verify the mathematical model of the smart structure. Uyar and Malgaca 23 studied passive and active vibration control of smart manipulators using model extraction approach from FE model of the manipulator. With a similar method, reduced-order SS mathematical models for 2 degrees of freedom mechanical system 24 and a cantilever beam 25 are extracted from modal analysis results in ANSYS by using inputs and outputs of the system.…”

Section: Introductionmentioning

confidence: 99%

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Analysis of an actively controlled composite box manipulator without external actuator

Lök,

Malgaca,

Uyar

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This study focuses on active vibration control for a single-link composite box manipulator by using a single actuator for driving and control actions. Model extraction and system identification techniques are studied to obtain mathematical models of the manipulator. The state space model is extracted from the finite element model using modal analysis conducted in ANSYS, while the system identification approach is an experimental modeling method using the input and output signals of the system. The input signals are defined as triangular and trapezoidal motion profiles, while the output signals are the acceleration signals of the manipulator. Proportional derivative and positive position feedback controllers are implemented on the obtained mathematical models to reduce residual vibrations. The simulation results are successfully verified by experiments, and uncontrolled/controlled results are evaluated with reduction rates.

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“…If the model extraction method is summarized for a multi-degree of mechanical freedom system, 23 the equation of motion is given in equation ( 1)…”

Section: Extracting State Space Models From Ansysmentioning

confidence: 99%

Section: Extracting State Space Models From Ansysmentioning

confidence: 99%

“…Then, the system matrices are obtained by following the steps given below for the use of the “SPMWRITE” command in the model extraction method based on modal analysis. 22–24…”

Section: Modeling Of Composite Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Analysis of an actively controlled composite box manipulator without external actuator

Lök,

Malgaca,

Uyar

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

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show abstract

“…Vibration and position control has been performed using varying strategies and methodologies, according to the literature. The authors of [7] developed a model-based controller for a flexible manipulator. PID and other hybrid strategies have been applied in [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

et al. 2023

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In recent years, industries have increasingly emphasized the need for high-speed, energy-efficient, and cost-effective solutions. As a result, there has been growing interest in developing flexible link manipulator robots to meet these requirements. However, reducing the weight of the manipulator leads to increased flexibility which, in turn, causes vibrations. This research paper introduces a novel approach for controlling the vibration and motion of a two-link flexible manipulator using reinforcement learning. The proposed system utilizes trust region policy optimization to train the manipulator’s end effector to reach a desired target position, while minimizing vibration and strain at the root of the link. To achieve the research objectives, a 3D model of the flexible-link manipulator is designed, and an optimal reward function is identified to guide the learning process. The results demonstrate that the proposed approach successfully suppresses vibration and strain when moving the end effector to the target position. Furthermore, the trained model is applied to a physical flexible manipulator for real-world control verification. However, it is observed that the performance of the trained model does not meet expectations, due to simulation-to-real challenges. These challenges may include unanticipated differences in dynamics, calibration issues, actuator limitations, or other factors that affect the performance and behavior of the system in the real world. Therefore, further investigations and improvements are recommended to bridge this gap and enhance the applicability of the proposed approach.

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Prescribed modal vibration control and disturbance load analysis of rigid-flexible satellites

Han,

Xia,

Wang

et al. 2024

Advances in Space Research

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Implementation of Active and Passive Vibration Control of Flexible Smart Composite Manipulators with Genetic Algorithm

Cited by 5 publications

References 35 publications

Analysis of an actively controlled composite box manipulator without external actuator

Analysis of an actively controlled composite box manipulator without external actuator

Vibration and Position Control of a Two-Link Flexible Manipulator Using Reinforcement Learning

Prescribed modal vibration control and disturbance load analysis of rigid-flexible satellites

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