Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

Bottega, Valdecir; Pergher, Rejane; Fonseca, Jun Sergio Ono

doi:10.1590/s1678-58782009000200003

Cited by 10 publications

(6 citation statements)

References 22 publications

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“…The physical system considered in this work is composed by a rigid and a flexible link, joints, and motors, based on the robot design suggested by Kim et al 9 and Bottega et al 18 .…”

Section: Resultsmentioning

confidence: 99%

Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Bottega

Molter²,

Fonseca³

et al. 2009

Mathematical Problems in Engineering

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This work presents a tracking control model for a flexible nonprismatic link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of the flexible manipulator is obtained in a closed form through the Lagrange equations. The control uses the motor torques for the joints tracking control and also to reduce the low-frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling vibrations with frequencies beyond the reach of motor torque control. The naturals frequencies are calculated by the finite element method, and the approximated eigenfunctions are interpolated by polynomials. Three eigenfunctions are used for the dynamics of the arm, while only two are used for the control. Numerical experiments on Matlab/Simulink are used to verify the efficiency of the control model.

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“…The physical system considered in this work is composed by a rigid and a flexible link, joints, and motors, based on the robot design suggested by Kim et al 9 and Bottega et al 18 .…”

Section: Resultsmentioning

confidence: 99%

Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Bottega

Molter²,

Fonseca³

et al. 2009

Mathematical Problems in Engineering

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“…The SimMechanics model presents the robot structure, the geometric and kinematic coherence of its components and translates this structural image into an internal equivalent mathematical model. Other researchers use this software as well [2,9,17]. Given that so far generally applicable method for this solution does not exist, here are listed the results of some studies in this area realized for the multi segment mechanisms, or anthropomorphic models using the static balance and centre of gravity, i.e.…”

Section: Mechanical Methods Of Motion Multistage Of the Mechanismmentioning

confidence: 99%

“…2 and D 3 all of which are important for the robot's movement;•kinematic parameters of the reactions of the tail and chin that are of interest here only from the aspect of the realization of certain reactions (grimaces).…”

mentioning

confidence: 99%

Software modeling of multi-degree-of-freedom motion system using matrices

Mikić

Desnica

Radivojević

et al. 2017

J Braz. Soc. Mech. Sci. Eng.

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robot system, occupies a number of positions necessary to carry out the task. Thus the position of the mechanical system is determined by a set of internal coordinates that determine the movement of the joints. It is understood that the movement is a requirement that each of the coordinates governed by its law determines the position of the robot movement, through the so-called internal and external coordinates. It also determines the way of conversion of coordinates from one movement to another, or the application of equations to solve the kinematics problems of robots (robots determine the vector segments, segment positioning, angle and line speed, angle and line acceleration). The movement of the joints is achieved with the use of an motor, which allows only rotation movement. By applying the static equilibrium of the centrer of gravity of the robots, a part of the research of an anthropomorphic robot with 18 degrees of freedom, allowing the development of a mechatronic system, whose results allow the movement of the robot position in stages, is carried out. The largest part of the investigation described in the paper was performed on a computer, applying powerful software. Keywords Robot body step • Joint • The movement of the robot • The transformations matrix • Software modeling List of symbols r Position vector r i Position vector i-th segment r D Vector points D r (0) D Position vector of point D the immobile coordinate system r S i Joint position vector S i i-th segment r (0) S i Initial joint position vector S i the immobile coordinate system r (0) S n Vector sum of the joint segments S n

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“…Using the of mode shape functions, the optimal placement of piezoelectric actuators for vibration control of two-link flexible manipulator was studied by Cao and Yu (2010). The optimal placement and size of the piezoelectric actuators/sensors in vibration control of flexible manipulators were optimized through the maximizing energy dissipated by Bottega et al (2009).…”

Section: Introductionmentioning

confidence: 99%

Optimal placement and active vibration control for piezoelectric smart flexible manipulators using modal H₂ norm

Yang

et al. 2018

Journal of Intelligent Material Systems and Structures

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The optimal placement and active vibration control for piezoelectric smart single flexible manipulator are investigated in this study. Based on the assumed mode method and Hamilton’s principle, the dynamic equation of the piezoelectric smart single flexible manipulator is established. Then, the singular perturbation method is adopted and the coupled dynamic equation is decomposed into slow (rigid) and fast (flexible) subsystems. After that, the couple optimal placement criterion of piezoelectric actuators is proposed on the base of modal H2 norm of the fast subsystem and the change rate of natural frequencies. Using an improved particle swarm optimization algorithm, the optimal placement of piezoelectric actuators is realized. Subsequently, in order to verify the validity and feasibility of the presented optimal placement criterion, the composite controller is designed for the active vibration control of the piezoelectric smart single flexible manipulator. Finally, numerical simulations and experiments are presented. The results demonstrate that the piezoelectric smart single flexible manipulator system has a better single modal controllability and observability and has a good result on the vibration suppression using the optimization results of actuators. The proposed optimal placement criterion and method are feasible and effective.

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Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

Cited by 10 publications

References 22 publications

Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Software modeling of multi-degree-of-freedom motion system using matrices

Optimal placement and active vibration control for piezoelectric smart flexible manipulators using modal H₂ norm

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Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

Cited by 10 publications

References 22 publications

Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Vibration Control of Manipulators with Flexible Nonprismatic Links Using Piezoelectric Actuators and Sensors

Software modeling of multi-degree-of-freedom motion system using matrices

Optimal placement and active vibration control for piezoelectric smart flexible manipulators using modal H2 norm

Contact Info

Product

Resources

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Optimal placement and active vibration control for piezoelectric smart flexible manipulators using modal H₂ norm