A Study on Robust Active Vibration Control for Flexible Smart Manipulator
When the manipulator is lightweight, especially for space application, the robotic systems are subject to high degree of flexible and encounter unavoidable mechanical vibration. Piezoelectric ceramics (PZT) attached to the surfaces of the flexible links are used as sensor and actuator to actively control the unwanted vibration. Two active vibration controllers including the reduced modal PD controller and H ∞ controller were investigated to suppress the unwanted vibration of the flexible manipulator due to environmental disturbances. Numerical simulations are carried out on single flexible manipulator and the simulation results show that the vibration of the system is significantly suppressed, the H ∞ control show good robustness.
Zhicheng Qiu Jingjun Wei
School of Mechanical Engineering, South China University of Technology Guangzhou, 510641 China
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）