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

Dunant Halim, Xi Luo, Pavel M. Trivailo

Research output: Journal PublicationArticlepeer-review

33 Citations (Scopus)

Abstract

The work in this paper is aimed to investigate the use of a decentralized control system for suppressing vibration of a multi-link flexible robotic manipulator using embedded smart piezoelectric transducers. To achieve this, a non-linear 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 rotate and translate with each element, so that the geometric non-linearity present in rotating manipulator system can be dealt with efficiently. The placement of piezoelectric actuators and sensors over the flexible links are considered for the application of decentralized control system. A numerical study shows that the developed co-rotational finite element method can be utilized to investigate the piezoelectric actuator/sensor placement and vibration control performances for a multi-link flexible manipulator undertaking complicated motion.

Original languageEnglish
Pages (from-to)186-196
Number of pages11
JournalActa Astronautica
Volume104
Issue number1
DOIs
Publication statusPublished - Nov 2014

Keywords

  • Co-rotational finite element method
  • Decentralized control
  • Multi-link flexible manipulator
  • Piezoelectric transducers
  • Vibration control

ASJC Scopus subject areas

  • Aerospace Engineering

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