Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control
This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM co...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2020/4671358 |
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| _version_ | 1832547059893272576 |
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| author | Minqiang Shao Yuming Huang Vadim V. Silberschmidt |
| author_facet | Minqiang Shao Yuming Huang Vadim V. Silberschmidt |
| author_sort | Minqiang Shao |
| collection | DOAJ |
| description | This paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint. |
| format | Article |
| id | doaj-art-0d931b4e02fe408fba52c929d22d7b0f |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-0d931b4e02fe408fba52c929d22d7b0f2025-02-03T06:46:00ZengWileyShock and Vibration1070-96221875-92032020-01-01202010.1155/2020/46713584671358Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration ControlMinqiang Shao0Yuming Huang1Vadim V. Silberschmidt2State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaWolfson School of Mechanical, Electrical and Manufacturing Engineering, Loughborough University, Loughborough, Leicestershire LE11 3TU, UKThis paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. The CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. The simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.http://dx.doi.org/10.1155/2020/4671358 |
| spellingShingle | Minqiang Shao Yuming Huang Vadim V. Silberschmidt Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control Shock and Vibration |
| title | Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control |
| title_full | Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control |
| title_fullStr | Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control |
| title_full_unstemmed | Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control |
| title_short | Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control |
| title_sort | intelligent manipulator with flexible link and joint modeling and vibration control |
| url | http://dx.doi.org/10.1155/2020/4671358 |
| work_keys_str_mv | AT minqiangshao intelligentmanipulatorwithflexiblelinkandjointmodelingandvibrationcontrol AT yuminghuang intelligentmanipulatorwithflexiblelinkandjointmodelingandvibrationcontrol AT vadimvsilberschmidt intelligentmanipulatorwithflexiblelinkandjointmodelingandvibrationcontrol |