Vibration control of flexible manipulators using smart structures

Vibration control of linear robots using a piezoelectric actuator

“…The corresponding plant and controller equations become (10) where represents the sampling point and denotes , etc. The observer is similarly discretized as (11) As an example, consider the design of a digital servocompensator at the dominant mode of the robot's vibration frequency of 130 Hz. With s, the discrete-time state-space model of the plant (1) is given as (12) The corresponding discrete-time servocompensator is computed as (13) Combining the plant and the servocompensator together leads to the following fifth-order discrete-time augmented model, given in (14), shown at the bottom of the next page.…”

“…For the former, various control strategies have been applied to close the loop between the sensors and the primary/secondary actuators so that the Manuscript underdamped modes are sufficiently stabilized. For example, the work in [6] applied surface bonded piezoelectric actuators and sensors for vibration control; the researchers in [10] considered neural networks based adaptive vibration control; the work in [11] utilized impedance control method of a flexible link using piezoelectric actuators; the work in [12] achieved position and vibration infinity control of a flexible arm with voice-coil actuators; and the researchers of [16] applied multilayered piezoelectric polymer for the control of a flexible element. In terms of disturbance rejection, the authors of [9] applied an adaptive fuzzy sliding-mode controller to a two-level spring-lumped mass dynamic absorber; the work in [13] described a disturbance estimation and compensation scheme to improve pointing accuracy; the work in [17] discussed an adaptive disturbance rejection method with application to a circular acoustic duct; and the authors of [18] considered electrorheological fluid-based variable viscous damper to suppress vibrations of industrial robots.…”

3d Shape Measuring Instruments Using High Stiffness Vibration Touch Sensor

“…However, most of these studies have focused either on actuators such as those employed for precise positioning and active damping (Sacconi A. and W., 1999;Shuo Hung Chang and Chien, 1999;Kakatcioglu S. and H., 1997) or on sensors such as those that measure pressure and force (T. and J., 1997;Shimizu T. and K., 2002). However, our proposed sensor has characteristics of both an actuator that generates vibration and a sensor that can detect touch; i.e., it is a bilateral vibration touch sensor.…”

Piezoelectromagnetic smart structures

“…Tzou and Gadre [1] derived a multilayered shell actuator theory for distributed vibration control of exible shell structures. A technique to control the vibrations of N modes of a exible link attached to a rigid robot using piezoceramic actuators and bre optic sensors employing an impedance control technique was developed by Kalaycioglu et al [2]. Successful simulation and experimental results were obtained for the vibration control of the Titan-II robot arm.…”