Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller

Abdullah Özer*, S. Eren Semercigil

*المؤلف المقابل لهذا العمل

نتاج البحث: Conference contribution

3 اقتباسات (Scopus)

ملخص

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.

اللغة الأصليةEnglish
عنوان منشور المضيفStructural Dynamics - Proceedings of the 28th IMAC, A Conference on Structural Dynamics, 2010
ناشرSpringer New York LLC
الصفحات323-330
عدد الصفحات8
طبعةPART 1
رقم المعيار الدولي للكتب (المطبوع)9781441998330
المعرِّفات الرقمية للأشياء
حالة النشرPublished - 2011
منشور خارجيًانعم

سلسلة المنشورات

الاسمConference Proceedings of the Society for Experimental Mechanics Series
الرقمPART 1
مستوى الصوت3
رقم المعيار الدولي للدوريات (المطبوع)2191-5644
رقم المعيار الدولي للدوريات (الإلكتروني)2191-5652

ASJC Scopus subject areas

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