Vibration Control of Flexible Manipulators Using Smart Structures
Publication: Journal of Aerospace Engineering
Volume 11, Issue 3
Abstract
The long reach robots required for space applications necessitate active vibration control algorithms for a better pointing performance. The inherent flexibility of the long and flexible space arms can generate undesirable vibrations, making their end-point controls very difficult, although they provide a large reach volume and payload capabilities. This paper presents a novel technique to control the vibrations of N modes of a flexible link attached to a rigid robot employing an Impedance Control Technique using piezo-ceramic actuators and fiber-optic sensors. A piezo-ceramic actuator model has been developed by considering the moments/forces generated by the piezo-ceramic actuator as nonconservative external forces. Successful simulation and experimental results have been obtained for vibration control of a cantilever beam which is attached to the end effector of the Titan-II robot arm.
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Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 11 • Issue 3 • July 1998
Pages: 90 - 94
Copyright
Copyright © 1998 American Society of Civil Engineers.
History
Published online: Jul 1, 1998
Published in print: Jul 1998
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