TY - GEN
T1 - Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers
AU - Halim, Dunant
AU - Luo, Xi
AU - Trivailo, Pavel M.
N1 - Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - The work in this paper is aimed to investigate the use of a decentralized control system for minimizing vibration of a multi-link flexible robotic manipulator using embedded smart piezoelectric transducers. To achieve this, a nonlinear dynamic model of a flexible robotic manipulator with smart piezoelectric actuators/sensors, is developed based on the co-rotational finite element method. The method incorporates multiple co-ordinate (co-rotational) systems which rotates and translates with each element, so that the geometric non-linearity present in rotating manipulator systems can be dealt with efficiently. The use of piezoelectric actuators and sensors over the flexible links are considered for the application of decentralized control system. Numerical study on a two-link flexible manipulator shows that the developed co-rotational finite element method can be efficiently used to investigate the actuator/sensor location and vibration control performances on multi-link flexible manipulator with relatively complicated motions.
AB - The work in this paper is aimed to investigate the use of a decentralized control system for minimizing vibration of a multi-link flexible robotic manipulator using embedded smart piezoelectric transducers. To achieve this, a nonlinear dynamic model of a flexible robotic manipulator with smart piezoelectric actuators/sensors, is developed based on the co-rotational finite element method. The method incorporates multiple co-ordinate (co-rotational) systems which rotates and translates with each element, so that the geometric non-linearity present in rotating manipulator systems can be dealt with efficiently. The use of piezoelectric actuators and sensors over the flexible links are considered for the application of decentralized control system. Numerical study on a two-link flexible manipulator shows that the developed co-rotational finite element method can be efficiently used to investigate the actuator/sensor location and vibration control performances on multi-link flexible manipulator with relatively complicated motions.
KW - Co-rotational finite element method
KW - Multi-link flexible manipulator
KW - Piezoceramic actuator/sensor
KW - Vibration control
UR - http://www.scopus.com/inward/record.url?scp=84904650207&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84904650207
SN - 9781629939094
T3 - Proceedings of the International Astronautical Congress, IAC
SP - 5953
EP - 5959
BT - 64th International Astronautical Congress 2013, IAC 2013
PB - International Astronautical Federation, IAF
T2 - 64th International Astronautical Congress 2013, IAC 2013
Y2 - 23 September 2013 through 27 September 2013
ER -