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 language | English |
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Title of host publication | Conference Proceedings of the Society for Experimental Mechanics Series |
Pages | 323-330 |
Number of pages | 8 |
Volume | 3 |
Edition | PART 1 |
Publication status | Published - 2011 |
Event | 28th IMAC, A Conference on Structural Dynamics, 2010 - Jacksonville, FL, United States Duration: Feb 1 2010 → Feb 4 2010 |
Other
Other | 28th IMAC, A Conference on Structural Dynamics, 2010 |
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Country | United States |
City | Jacksonville, FL |
Period | 2/1/10 → 2/4/10 |
ASJC Scopus subject areas
- Engineering(all)
- Computational Mechanics
- Mechanical Engineering