Open AccessBoundary vibration control for a flexible Timoshenko robotic manipulator
Author(s) -
He Xiuyu,
He Wei,
Qin Hui,
Sun Changyin
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.1017
Subject(s) - control theory (sociology) , deflection (physics) , vibration , timoshenko beam theory , vibration control , robot manipulator , computer science , ordinary differential equation , partial differential equation , active vibration control , distributed parameter system , control engineering , differential equation , engineering , mathematics , robot , physics , classical mechanics , control (management) , artificial intelligence , mathematical analysis , acoustics
The authors investigate the dynamic modelling problem and the active vibration control design problem for a flexible Timoshenko robotic manipulator in this study. For the practical robotic manipulator, the authors analyse the dynamic characteristic considering the shear deformation and elastic deflection of the flexible arm link and describe this flexible system with a coupled partial differential equation and ordinary differential equations (PDE–ODEs) model. Furthermore, the authors design the active vibration control and disturbance observers to solve the vibration problem of the flexible robotic manipulator under the external disturbances, namely, to reduce the shear deformation and the deflection of the flexible Timoshenko link. Besides, the manipulator is driven to track the given angular position with an active angular controller, simultaneously. The effectiveness of the designed vibration control laws is analysed by the theoretical analysis and verified by the numerical simulation.