Embedded Sensors and Actuators for Lightweight Structures
Much effort has been invested in developing control methodologies that modify the joint torque profiles in a lightweight, high speed robot manipulator in order to suppress vibration in the flexible links and improve end-point positional accuracy [1-7]. Similar concerns arise regarding the interaction between structures and control methodologies for large space structures . These techniques rely on a model of the flexural behavior of the link(s). Some of them operate in real-time [1,2], while others are computed prior to motion and may depend on inverse dynamics [3–6]. The principal drawback to all of these is that while the vibration modes are properties of the flexible links, the attempted solutions rely on actuation at the joint motors. This condition of non-collocation of the vibrational coordinates and the actuators’ degrees-of-freedom has hampered the satisfactory identification of a real-time controller. Furthermore, techniques for sensing have also relied on location of sensors remote from the actual vibrational coordinates [1–6,8].
KeywordsStrain Sensor Flexible Link Flexible Robot Large Space Structure Joint Motor
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