Journal of KSNVE (소음진동)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Vibration Control of a Very Flexible Robot Arm-via Piezoactuators

압전 작동기를 이용한 매우 유연한 로봇 팔의 진동 제어

  • 신호철 (인하대학교 대학원, 기계공학과) ;
  • 최승복 (인하대학교 기계공학과)
  • Published : 1996.04.01
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Abstract

A new control strategy to actively control the vibration of a very flexible single link manipulator is proposed and experimentally realized. The control scheme consists of two actuators; a motor mounted at the beam hub and a piezoceramic bonded to the surface of the flexible link. The control torque of the motor to produce a desired angular motion is firstly determined by employing a sliding mode control theory on the equivalent rigid dynamics. The torque is then applied to the flexible manipulator in order to activate the commanded motion. During the motion, underirable oscillation is actively suppressed by applying a feedback control voltage to the piezoceramic actuator. Consequently, the desired tip position is favorably accomplished without vibration. Measured control responses are presented in order to demonstrate the efficiency of the proposed control methodology.

Keywords

References

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