Abstract
A wave absorption control strategy is proposed to suppress vibration at the distal end of a flexible robotic arm while achieving accurate position control. It assumes the flexible arm with an actuator at one end and a load at the other, and interprets the arm’s dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is thus resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added subsequently. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The properties of the control scheme proposed are studied throughout. It works very well under uncertainty, and is stable and robust, for tip positioning and trajectory tracking control, as demonstrated in the numerical results.
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Yang, T., Qin, Y., Han, J. (2017). Vibration Control of a Flexible Robotic Arm by Wave Absorption Based on a Lumped Dynamic Model. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710. Springer, Singapore. https://doi.org/10.1007/978-981-10-5230-9_42
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DOI: https://doi.org/10.1007/978-981-10-5230-9_42
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