Research on Active Control of Rotating Motion and Vibration of Flexible Manipulator | Zendy

Qingpeng Han | Zendy; Wenwen Dong | Zendy; Bin Wu | Zendy; Xinhang Shen | Zendy; Meilin Zhang | Zendy; Binxia Yuan | Zendy; Jianben Liu | Zendy; Rui Zhu | Zendy; Daolei Wang | Zendy

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Research on Active Control of Rotating Motion and Vibration of Flexible Manipulator

Author(s) -

Qingpeng Han,

Wenwen Dong,

Bin Wu,

Xinhang Shen,

Meilin Zhang,

Binxia Yuan,

Jianben Liu,

Rui Zhu,

Daolei Wang

Publication year - 2021

Publication title -

shock and vibration

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.418

H-Index - 45

eISSN - 1875-9203

pISSN - 1070-9622

DOI - 10.1155/2021/6661910

Subject(s) - control theory (sociology) , actuator , vibration , manipulator (device) , engineering , vibration control , active vibration control , torque , control engineering , control (management) , computer science , mechanical engineering , robotic arm , physics , acoustics , artificial intelligence , thermodynamics , electrical engineering

In this study, PZT (piezoelectric) actuators and PD control (PDs’ command line tool) method is selected to control the vibration of the flexible manipulator. The dynamic equations of the flexible manipulator system are established based on Lagrange principle. The control strategy of PZT actuators and joint control torque are designed. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applies to segmented PZT actuators. By comparison, only PD feedback control is also considered to control the flexible manipulator. The numerical simulations prove that the method of the designed PZT actuators’ control strategy and PD control is effective to compress the vibration of the flexible manipulator.

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