Piezoelectric vibration suppression of a flexible mounting link for precise space robot operating

Abstract

In large-range manipulator operating mission, it is essential to connect an additional link with end-effectors to enlarge the operation space, which unavoidably introduces the vibration disturbance. An active piezoelectric vibration suppression method is proposed in this paper. The multiple piezoelectric patches shunted with time-variant resonant circuit are mounted on the link and an adaptive controller acting on circuit is utilized for suppressing the vibration due to excitation on various mass on the tip of the link during the robot operating. The electro-mechanical system of a kinematic manipulator model and an analytical flexible link model is established. The vibration controller is designed using the neural network which maps the relationship between the output voltage of piezoelectric sensors and the proper impedance of the circuit. The simulation study shows that the proposed method in this paper could be well applied in space robot operating.