scholarly journals Experimental Identification and Vibration Control of A Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control

2017 ◽  
Vol 7 (3) ◽  
pp. 309 ◽  
Author(s):  
Junqiang Lou ◽  
Jiangjiang Liao ◽  
Yanding Wei ◽  
Yiling Yang ◽  
Guoping Li
Keyword(s):  
Vibration Control ◽  
Flexible Manipulator ◽  
Experimental Identification ◽  
Poles Placement

scholarly journals Experimental Identification and Vibration Control of A Non-Collocated Piezoelectric Flexible Manipulator Using Optimal Multi-Poles Placement Control

2017 ◽  
Author(s):  
Junqiang Lou ◽  
Jiangjiang Liao ◽  
Yiling Yang ◽  
Yanding Wei ◽  
Guoping Li
Keyword(s):  
Closed Loop ◽  
Vibration Suppression ◽  
Strain Sensors ◽  
Flexible Manipulator ◽  
Experimental Identification ◽  
Model Match ◽  
Frequency Domains ◽  
Full State ◽  
Poles Placement ◽  
Multi Mode

This paper presents experimental identification and vibration suppression of a flexible manipulator with non-collocated piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model to compensate the non-collocation. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Besides, vibrations of the higher modes are also slightly suppressed. Accordingly, multi-mode vibrations of the manipulator are well attenuated, and the tip displacement converges quickly with the proposed method.

Vibration Control of a Flexible Manipulator Driven by a Pneumatic Rodless Cylinder

ROBOT ◽  
2012 ◽  
Vol 34 (1) ◽  
pp. 9
Author(s):  
Zhicheng QIU ◽  
Bin WANG ◽  
Jianda HAN ◽  
Yuechao WANG
Keyword(s):  
Vibration Control ◽  
Flexible Manipulator

Active vibration control of a multi-link space flexible manipulator with torque feedback

1991 ◽  
Vol 6 (1) ◽  
pp. 23-39 ◽  
Author(s):  
Tadashi Komatsu ◽  
Michihiro Uenohara ◽  
Shoichi Kura ◽  
Hirofumi Miura ◽  
Isao Shimoyama
Keyword(s):  
Vibration Control ◽  
Active Vibration Control ◽  
Flexible Manipulator ◽  
Active Vibration
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