Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers

Dunant Halim; Xi Luo; Pavel M. Trivailo

Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers

Dunant Halim
, Xi Luo
, Pavel M. Trivailo

Department of Mechanical, Materials and Manufacturing Engineering

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	64th International Astronautical Congress 2013, IAC 2013
Publisher	International Astronautical Federation, IAF
Pages	5953-5959
Number of pages	7
ISBN (Print)	9781629939094
Publication status	Published - 2013
Event	64th International Astronautical Congress 2013, IAC 2013 - Beijing, China Duration: 23 Sept 2013 → 27 Sept 2013

Publication series

Name	Proceedings of the International Astronautical Congress, IAC
Volume	8
ISSN (Print)	0074-1795

Conference

Conference	64th International Astronautical Congress 2013, IAC 2013
Country/Territory	China
City	Beijing
Period	23/09/13 → 27/09/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Free Keywords

Co-rotational finite element method
Multi-link flexible manipulator
Piezoceramic actuator/sensor
Vibration control

ASJC Scopus subject areas

Aerospace Engineering
Astronomy and Astrophysics
Space and Planetary Science

Cite this

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title = "Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers",

abstract = "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.",

keywords = "Co-rotational finite element method, Multi-link flexible manipulator, Piezoceramic actuator/sensor, Vibration control",

author = "Dunant Halim and Xi Luo and Trivailo, \{Pavel M.\}",

year = "2013",

language = "English",

isbn = "9781629939094",

series = "Proceedings of the International Astronautical Congress, IAC",

publisher = "International Astronautical Federation, IAF",

pages = "5953--5959",

booktitle = "64th International Astronautical Congress 2013, IAC 2013",

address = "France",

}

Halim, D, Luo, X & Trivailo, PM 2013, Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers. in 64th International Astronautical Congress 2013, IAC 2013. Proceedings of the International Astronautical Congress, IAC, vol. 8, International Astronautical Federation, IAF, pp. 5953-5959, 64th International Astronautical Congress 2013, IAC 2013, Beijing, China, 23/09/13.

Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers. / Halim, Dunant; Luo, Xi; Trivailo, Pavel M.
64th International Astronautical Congress 2013, IAC 2013. International Astronautical Federation, IAF, 2013. p. 5953-5959 (Proceedings of the International Astronautical Congress, IAC; Vol. 8).

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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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.

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Decentralized vibration control of a multi-link flexible robotic manipulator using smart piezoelectric transducers

Abstract

Publication series

Conference

UN SDGs

Free Keywords

ASJC Scopus subject areas

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Cite this