Abstract
This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.
Highlights
Lightweight and large-scale flexible structures are utilized in many fields
Based on the differences between modeling, control and experimental studies, Dwivedy and Eberhard [4] summarized the original works in the area of dynamics of flexible robotic manipulators performance. e main focus of scholars in the early studies was on dynamic modeling
Control of vibration of flexible manipulators is concerned, with active control methods and advanced intelligent materials used in some research studies [7,8,9,10]
Summary
Lightweight and large-scale flexible structures are utilized in many fields. Some of them exhibit excellent dynamic performance when integrated with intelligent components. A linear quadratic Gaussian (LQG) method was applied to control a flexiblebeam structure subjected to external disturbance [24], an optimal tracking control theory was used for position control of a flexible hub-beam system [25], and an optimal placement of sensors and actuators distributed on flexible space structures [26] Other control algorithms, such as robust control [21, 27], sliding-surface constraint scheme, velocity feedback control, and fuzzy control [28,29,30], were broadly used in controller design for manipulators. Is paper considers this case and studies the vibration suppression of a manipulator with both flexible links and joints based on the FE method. A reconstructed method is presented and deals with this problem effectively. e function of the reconstructed model is transformed into an expression with output variables; it is easy to design an optimal controller based on the output function. e obtained simulation results show good performance of the suggested approach in vibration suppression of manipulators
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