Hybrid vibration control of an industrial CFRP composite robot-manipulator system based on reduced order model

Abstract

This paper introduces a novel hybrid vibration control of an industrial flexible link manipulator (FLM) with carbon-fiber reinforced polymer (CFRP) composite material. The hybrid controller consists of a closed-loop direct strain feedback controller (DSFC) and a new open-loop input shaper (OLIS), and its performance is examined and compared by numerical simulation and experiment. Vibration attenuation is also verified by a spare sensor, an accelerometer. Thanks to the design of an analog isolator circuit, data acquisition of the real-time experiments are carried out noise-free from the servo driver. Reduced-order-model (ROM) is generated for the composite link with three different loading conditions and model for servo system is derived via system identification. Impulse force test hammer (IFTH) equipment is used to excite the system with force input and the results of the experiments/simulations confirm that the controller is robust against the impulse disturbances. As a result, a decrease of 88 ± 6.9 percent in vibration amplitudes and a decrease of 90 ± 7 percent in vibration duration confirms that the proposed controller is effective for vibration control of the flexible arm even under disturbance. Controller performance also enabled the FLM to work with payloads 16 times of its own weight.