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 |
|---|---|
| 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 |
|---|---|
| Country | United States |
| City | Jacksonville, FL |
| Period | 2/1/10 → 2/4/10 |
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ASJC Scopus subject areas
- Engineering(all)
- Computational Mechanics
- Mechanical Engineering
Cite this
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 proceeding › Conference contribution
}
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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M3 - Conference contribution
AN - SCOPUS:80051498851
SN - 9781441998330
VL - 3
SP - 323
EP - 330
BT - Conference Proceedings of the Society for Experimental Mechanics Series
ER -