Vibration control of multi-link robot manipulators

Part I with rigid linkages

A. Özer, S. E. Semercigil

Research output: Contribution to journalArticle

Abstract

Joint resilience is inherent in all mechanical structures with working joints. In case of multi-link robotic manipulators, joint resilience may cause undesirable oscillations of the end effector. These oscillations may persist for extended durations resulting in long idle periods between performing different tasks. Numerical predictions are presented in this paper to demonstrate the effectiveness of a control technique in quickly attenuating excessive transient oscillations of a two-link arm. The technique is based on actively manipulating the joint resilience. It is effective. It is suitable to be implemented as an add-on controller and it requires minimal hardware. It is a stable control technique due to its being dissipative in nature.

Original languageEnglish
Pages (from-to)50-56
Number of pages7
JournalProceedings of the International Modal Analysis Conference - IMAC
Volume1
Publication statusPublished - 2001

Fingerprint

Vibration control
Manipulators
Robots
End effectors
Robotics
Hardware
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Vibration control of multi-link robot manipulators : Part I with rigid linkages. / Özer, A.; Semercigil, S. E.

In: Proceedings of the International Modal Analysis Conference - IMAC, Vol. 1, 2001, p. 50-56.

Research output: Contribution to journalArticle

@article{cff28771b8024a108d5692150430621e,
title = "Vibration control of multi-link robot manipulators: Part I with rigid linkages",
abstract = "Joint resilience is inherent in all mechanical structures with working joints. In case of multi-link robotic manipulators, joint resilience may cause undesirable oscillations of the end effector. These oscillations may persist for extended durations resulting in long idle periods between performing different tasks. Numerical predictions are presented in this paper to demonstrate the effectiveness of a control technique in quickly attenuating excessive transient oscillations of a two-link arm. The technique is based on actively manipulating the joint resilience. It is effective. It is suitable to be implemented as an add-on controller and it requires minimal hardware. It is a stable control technique due to its being dissipative in nature.",
author = "A. {\"O}zer and Semercigil, {S. E.}",
year = "2001",
language = "English",
volume = "1",
pages = "50--56",
journal = "Proceedings of the International Modal Analysis Conference - IMAC",
issn = "1046-6770",
publisher = "Society for Experimental Mechanics",

}

TY - JOUR

T1 - Vibration control of multi-link robot manipulators

T2 - Part I with rigid linkages

AU - Özer, A.

AU - Semercigil, S. E.

PY - 2001

Y1 - 2001

N2 - Joint resilience is inherent in all mechanical structures with working joints. In case of multi-link robotic manipulators, joint resilience may cause undesirable oscillations of the end effector. These oscillations may persist for extended durations resulting in long idle periods between performing different tasks. Numerical predictions are presented in this paper to demonstrate the effectiveness of a control technique in quickly attenuating excessive transient oscillations of a two-link arm. The technique is based on actively manipulating the joint resilience. It is effective. It is suitable to be implemented as an add-on controller and it requires minimal hardware. It is a stable control technique due to its being dissipative in nature.

AB - Joint resilience is inherent in all mechanical structures with working joints. In case of multi-link robotic manipulators, joint resilience may cause undesirable oscillations of the end effector. These oscillations may persist for extended durations resulting in long idle periods between performing different tasks. Numerical predictions are presented in this paper to demonstrate the effectiveness of a control technique in quickly attenuating excessive transient oscillations of a two-link arm. The technique is based on actively manipulating the joint resilience. It is effective. It is suitable to be implemented as an add-on controller and it requires minimal hardware. It is a stable control technique due to its being dissipative in nature.

UR - http://www.scopus.com/inward/record.url?scp=0035053875&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035053875&partnerID=8YFLogxK

M3 - Article

VL - 1

SP - 50

EP - 56

JO - Proceedings of the International Modal Analysis Conference - IMAC

JF - Proceedings of the International Modal Analysis Conference - IMAC

SN - 1046-6770

ER -