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Control of flexible manipulators via singular perturbations and distributed vibration damping

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Dynamics and Control

Abstract

A composite control strategy for a two-link flexible manipulator is analyzed which combines hub actuation with distributed vibration control. The hub actuation is based upon an integral manifold approach in which the system dynamics are approximately linearized to any order of a small parameter E representing stiffness of the robot arms. A polymer film is proposed as a distributed actuator to dampen vibrations due to elasticity in the links. Simulation results are provided which show that the addition of the distributed actuator significantly reduces the displacement and velocity of the first flexible mode in each link compared to hub actuation alone.

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Authors and Affiliations

  1. Oak Ridge National Laboratory, Instrumentation and Controls Division, P. 0. Box 2009, 37831-8073, Oak Ridge, TN

    D. A. Schoenwald

  2. Department of Electrical Engineering, The Ohio State University, 2015 Neil Avenue, 43210-1272, Columbus, OH

    Ü. Özgüner

Authors
  1. D. A. Schoenwald
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  2. Ü. Özgüner
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Editor: T. Vincent

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Schoenwald, D.A., Özgüner, Ü. Control of flexible manipulators via singular perturbations and distributed vibration damping. Dynamics and Control 6, 5–32 (1996). https://doi.org/10.1007/BF02169459

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  • DOI: https://doi.org/10.1007/BF02169459

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