Abstract
In this study, PZT (piezoelectric) actuators and PD control (PDs’ command line tool) method is selected to control the vibration of the flexible manipulator. The dynamic equations of the flexible manipulator system are established based on Lagrange principle. The control strategy of PZT actuators and joint control torque are designed. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applies to segmented PZT actuators. By comparison, only PD feedback control is also considered to control the flexible manipulator. The numerical simulations prove that the method of the designed PZT actuators’ control strategy and PD control is effective to compress the vibration of the flexible manipulator.
Highlights
Flexible components are widely used in modern engineering with the rapid development of science and technology, and the resulting vibration control problems have attracted widespread attention
In the manufacturing industry, a flexible system is formed when a robotic arm is running at high speed, and its positioning accuracy is restricted by the small deformation elastic vibration of the robotic arm [1]. e flexible manipulator is a typical rigidflexible coupling dynamics system. e research on the active control of the flexible manipulator is developed in parallel with its modeling theory
Shafei et al [5, 6] research the study of a general formulation and numerical solution for the dynamic load-carrying capacity of a mechanical manipulator with elastic links. ey obtain the dynamic equations of motion for the system by means of the Gibbs–Appell formulation and by applying the assumed modes method. e elastic characteristics of the members have been modeled based on the Timoshenko beam theory and its associated mode shapes
Summary
Flexible components are widely used in modern engineering with the rapid development of science and technology, and the resulting vibration control problems have attracted widespread attention. To ensure that the system reaches the predetermined position within a limited time, the piezoelectric actuator is used to ensure the suppression of the elastic vibration of the flexible mechanical arm. When the drive motor acts on the flexible manipulator to produce a large range of motion, it will cause the flexible manipulator to vibrate At this time, the bending vibration signal is obtained by the resistance strain sensor pasted on it, filtered and amplified by the dynamic strain gauge, and inputted to the industrial computer through data collection and conversion. E control algorithm is implemented on the industrial computer, and the control signal is converted into a voltage signal output by D/A to drive the PZT piezoelectric actuator to generate the corresponding bending moment to offset the vibration of the flexible manipulator The bending vibration signal is obtained by the resistance strain sensor pasted on it, filtered and amplified by the dynamic strain gauge, and inputted to the industrial computer through data collection and conversion. e control algorithm is implemented on the industrial computer, and the control signal is converted into a voltage signal output by D/A to drive the PZT piezoelectric actuator to generate the corresponding bending moment to offset the vibration of the flexible manipulator
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
