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

Abdullah Özer; S. Eren Semercigil

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

Abdullah Özer^*, S. Eren Semercigil

^*Corresponding author for this work

Mechanical and Industrial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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

ASJC Scopus subject areas

Engineering(all)
Computational Mechanics
Mechanical Engineering

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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.",

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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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