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Active Vibration Control of a Flexible Manipulator With Velocity Feedback
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Author(s): Şahin Yavuz (Dokuz Eylül University, Turkey), Doğukan Akgöl (Dokuz Eylül University, Turkey) and Gökçe Naz Biricik (Dokuz Eylül University, Turkey)
Copyright: 2023
Pages: 17
Source title:
Design and Control Advances in Robotics
Source Author(s)/Editor(s): Mohamed Arezk Mellal (M'Hamed Bougara University, Algeria)
DOI: 10.4018/978-1-6684-5381-0.ch005
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Abstract
In this study, active vibration control of a single-link flexible manipulator has been performed. Residual vibrations affect the end-point positioning accuracy of the manipulator. To control residual vibration amplitudes, closed loop control scheme has been effectuated. Velocity feedback of the desired endpoint has been carried out and traditional proportional-integral (PI) Control has been applied. The mathematical model of the flexible manipulator has been established by the finite element method (FEM). The FEM results in modal analysis have been verified by the experimental results and then, the transient analysis has been realized by the Newmark method. Different velocity profiles have been applied to the manipulator to demonstrate the effect of PI controller on vibration amplitudes. The root mean square values and steady-state time have been calculated presented for different cases. It is observed from the results that the residual vibration amplitudes of the manipulators are successfully suppressed by the proportional-integral control gains.
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