scholarly journals Adaptive control of a single-link flexible manipulator

1990 ◽  
Vol 10 (2) ◽  
pp. 29-33 ◽  
Author(s):  
V. Feliu ◽  
K.S. Rattan ◽  
H.B. Brown
Keyword(s):  
Adaptive Control ◽  
Flexible Manipulator ◽  
Single Link

Adaptive control of a single-link flexible manipulator with unknown load

1991 ◽  
Vol 138 (2) ◽  
pp. 153 ◽  
Author(s):  
Tzung-Cheng Yang ◽  
Jackson C.S. Yang ◽  
Prabhakar Kudva
Keyword(s):  
Adaptive Control ◽  
Flexible Manipulator ◽  
Single Link ◽  
Unknown Load

Load-adaptive control of a single-link flexible manipulator

1992 ◽  
Vol 22 (1) ◽  
pp. 85-91 ◽  
Author(s):  
T.-C. Yang ◽  
J.C.S. Yang ◽  
P. Kudva
Keyword(s):  
Adaptive Control ◽  
Flexible Manipulator ◽  
Single Link

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link
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