Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression
Trajectory planning is an effective feed-forward control technology for vibration suppression of flexible manipulators. However, the inherent drawback makes this strategy inefficient when dealing with modeling errors and disturbances. An optimal trajectory planning approach is proposed and applied t...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2015/952708 |
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| _version_ | 1832566913306198016 |
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| author | Junqiang Lou Yanding Wei Guoping Li Yiling Yang Fengran Xie |
| author_facet | Junqiang Lou Yanding Wei Guoping Li Yiling Yang Fengran Xie |
| author_sort | Junqiang Lou |
| collection | DOAJ |
| description | Trajectory planning is an effective feed-forward control technology for vibration suppression of flexible manipulators. However, the inherent drawback makes this strategy inefficient when dealing with modeling errors and disturbances. An optimal trajectory planning approach is proposed and applied to a flexible piezoelectric manipulator system in this paper, which is a combination of feed-forward trajectory planning method and feedback control of piezoelectric actuators. Specifically, the joint controller is responsible for the trajectory tracking and gross vibration suppression of the link during motion, while the active controller of actuators is expected to deal with the link vibrations after joint motion. In the procedure of trajectory planning, the joint angle of the link is expressed as a quintic polynomial function. And the sum of the link vibration energy is chosen as the objective function. Then, genetic algorithm is used to determine the optimal trajectory. The effectiveness of the proposed method is validated by simulation and experiments. Both the settling time and peak value of the link vibrations along the optimal trajectory reduce significantly, with the active control of the piezoelectric actuators. |
| format | Article |
| id | doaj-art-a8fad5b8b4f744bab7c36f1b54472dce |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-a8fad5b8b4f744bab7c36f1b54472dce2025-02-03T01:02:46ZengWileyShock and Vibration1070-96221875-92032015-01-01201510.1155/2015/952708952708Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration SuppressionJunqiang Lou0Yanding Wei1Guoping Li2Yiling Yang3Fengran Xie4Zhejiang Provincial Key Lab of Part Rolling Technology, College of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, ChinaChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, ChinaZhejiang Provincial Key Lab of Part Rolling Technology, College of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, ChinaChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, ChinaChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, ChinaTrajectory planning is an effective feed-forward control technology for vibration suppression of flexible manipulators. However, the inherent drawback makes this strategy inefficient when dealing with modeling errors and disturbances. An optimal trajectory planning approach is proposed and applied to a flexible piezoelectric manipulator system in this paper, which is a combination of feed-forward trajectory planning method and feedback control of piezoelectric actuators. Specifically, the joint controller is responsible for the trajectory tracking and gross vibration suppression of the link during motion, while the active controller of actuators is expected to deal with the link vibrations after joint motion. In the procedure of trajectory planning, the joint angle of the link is expressed as a quintic polynomial function. And the sum of the link vibration energy is chosen as the objective function. Then, genetic algorithm is used to determine the optimal trajectory. The effectiveness of the proposed method is validated by simulation and experiments. Both the settling time and peak value of the link vibrations along the optimal trajectory reduce significantly, with the active control of the piezoelectric actuators.http://dx.doi.org/10.1155/2015/952708 |
| spellingShingle | Junqiang Lou Yanding Wei Guoping Li Yiling Yang Fengran Xie Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression Shock and Vibration |
| title | Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression |
| title_full | Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression |
| title_fullStr | Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression |
| title_full_unstemmed | Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression |
| title_short | Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression |
| title_sort | optimal trajectory planning and linear velocity feedback control of a flexible piezoelectric manipulator for vibration suppression |
| url | http://dx.doi.org/10.1155/2015/952708 |
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