Vibration Control of a Space Flexible Robot Manipulator Using PZT Actuators

Autor:	Yan Ding Wei, Jun Qiang Lou
Rok vydání:	2011
Předmět:	Lyapunov function Engineering Payload business.industry Vibration control Control engineering Robotics General Medicine Computer Science::Robotics Vibration symbols.namesake Control theory Active vibration control symbols Artificial intelligence Actuator business
Zdroj:	Applied Mechanics and Materials. :1142-1148
ISSN:	1662-7482
DOI:	10.4028/www.scientific.net/amm.66-68.1142
Popis:	The dynamic analysis and control of flexible robot manipulators have been the main concerns of many recent studies in aeronautics and robotics. Moreover, the complexity of this problem increases when a flexible manipulator carries a payload. In this paper, we proposed a space two-link flexible manipulator with tip payload featuring surface-bonded piezoelectric torsional actuator and shear actuator. The equations of motion for the system are obtained using Hamilton’s principle. A Lyapunov-based controller is proposed to suppress the vibration of the system. Stability of the system is also investigated. The simulation results demonstrate the proposed control strategy is well suited for active control of vibration suppression on flexible manipulators.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::adfef8f129e92a1c3547572b6dde6e58 https://doi.org/10.4028/www.scientific.net/amm.66-68.1142 Zobrazit plný text záznamu