TY - GEN
T1 - Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller
AU - Özer, Abdullah
AU - Semercigil, S. Eren
PY - 2011
Y1 - 2011
N2 - Vibration control of a maneuvering flexible robotic arm is a challenging task in the presence of changing structural dynamics which has to deal with measurement inaccuracies and complex modeling efforts. This paper presents an effective and versatile controller for a maneuvering flexible arm. Proposed Variable Stiffness Control (VSC) is stable, due to its being dissipative in nature. The technique is suitable to be implemented as an add-on controller to existing robots, and it requires no additional hardware. Control is based on the detection of a kinematic event, peak relative displacement, rather than an accurate knowledge of structural dynamics. Hence, although there may not be a claim for the suggested control to be the most effective, it certainly represents significant practical advantages for cases where there may be structural uncertainties.
AB - Vibration control of a maneuvering flexible robotic arm is a challenging task in the presence of changing structural dynamics which has to deal with measurement inaccuracies and complex modeling efforts. This paper presents an effective and versatile controller for a maneuvering flexible arm. Proposed Variable Stiffness Control (VSC) is stable, due to its being dissipative in nature. The technique is suitable to be implemented as an add-on controller to existing robots, and it requires no additional hardware. Control is based on the detection of a kinematic event, peak relative displacement, rather than an accurate knowledge of structural dynamics. Hence, although there may not be a claim for the suggested control to be the most effective, it certainly represents significant practical advantages for cases where there may be structural uncertainties.
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U2 - 10.1007/978-1-4419-9834-7_30
DO - 10.1007/978-1-4419-9834-7_30
M3 - Conference contribution
AN - SCOPUS:80051498851
SN - 9781441998330
T3 - Conference Proceedings of the Society for Experimental Mechanics Series
SP - 323
EP - 330
BT - Structural Dynamics - Proceedings of the 28th IMAC, A Conference on Structural Dynamics, 2010
PB - Springer New York LLC
ER -