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

Abdullah Özer, S. Eren Semercigil

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationConference Proceedings of the Society for Experimental Mechanics Series
Pages323-330
Number of pages8
Volume3
EditionPART 1
Publication statusPublished - 2011
Event28th IMAC, A Conference on Structural Dynamics, 2010 - Jacksonville, FL, United States
Duration: Feb 1 2010Feb 4 2010

Other

Other28th IMAC, A Conference on Structural Dynamics, 2010
CountryUnited States
CityJacksonville, FL
Period2/1/102/4/10

Fingerprint

Stiffness
Structural dynamics
Controllers
Robotic arms
Vibration control
Kinematics
Robots
Hardware
Uncertainty

ASJC Scopus subject areas

  • Engineering(all)
  • Computational Mechanics
  • Mechanical Engineering

Cite this

Özer, A., & Semercigil, S. E. (2011). Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller. In Conference Proceedings of the Society for Experimental Mechanics Series (PART 1 ed., Vol. 3, pp. 323-330)

Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller. / Özer, Abdullah; Semercigil, S. Eren.

Conference Proceedings of the Society for Experimental Mechanics Series. Vol. 3 PART 1. ed. 2011. p. 323-330.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Özer, A & Semercigil, SE 2011, Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller. in Conference Proceedings of the Society for Experimental Mechanics Series. PART 1 edn, vol. 3, pp. 323-330, 28th IMAC, A Conference on Structural Dynamics, 2010, Jacksonville, FL, United States, 2/1/10.
Özer A, Semercigil SE. Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller. In Conference Proceedings of the Society for Experimental Mechanics Series. PART 1 ed. Vol. 3. 2011. p. 323-330
Özer, Abdullah ; Semercigil, S. Eren. / Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller. Conference Proceedings of the Society for Experimental Mechanics Series. Vol. 3 PART 1. ed. 2011. pp. 323-330
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