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

Dunant Halim, Xi Luo, Pavel M. Trivailo

Research output: Chapter in Book/Conference proceedingConference contributionpeer-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 languageEnglish
Title of host publication64th International Astronautical Congress 2013, IAC 2013
PublisherInternational Astronautical Federation, IAF
Pages5953-5959
Number of pages7
ISBN (Print)9781629939094
Publication statusPublished - 2013
Event64th International Astronautical Congress 2013, IAC 2013 - Beijing, China
Duration: 23 Sep 201327 Sep 2013

Publication series

NameProceedings of the International Astronautical Congress, IAC
Volume8
ISSN (Print)0074-1795

Conference

Conference64th International Astronautical Congress 2013, IAC 2013
Country/TerritoryChina
CityBeijing
Period23/09/1327/09/13

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

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