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On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARX-Based Synthetic Environment

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Advances in Robot Design and Intelligent Control (RAAD 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

This study addresses the problem of vibration control of a flexible metallic beam which is transferred by an industrial robot. The control is designed in a special Matlab/Simulink synthetic environment that is founded on AutoRegressive with eXogenous (ARX) stochastic modelling of the robot-beam system through exclusively experimental data. Based on this, a simple closed-loop control system consisting of a feedforward typical Proportional-Integral (PI) controller and a feedback that enables the minimization of the induced force at the wrist of the robot is developed for beam vibration control. The data-based modelling of the robot-beam system allows for the precise design of the control system in offline mode, without interrupting normal production conditions, and achieves excellent performance in real time application.

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Notes

  1. 1.

    https://youtu.be/QBJ-nUtPhys (vibration of the beam without control).

    https://youtu.be/fAVysBIFMYM (PI-based vibration control of the beam).

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Authors and Affiliations

  1. Mechanical Engineering and Aeronautics Department, University of Patras, Rio Patras, Greece

    Christos N. Kapsalas, John S. Sakellariou, Panagiotis N. Koustoumpardis & Nikos A. Aspragathos

Authors
  1. Christos N. Kapsalas
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  2. John S. Sakellariou
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  3. Panagiotis N. Koustoumpardis
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  4. Nikos A. Aspragathos
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Corresponding author

Correspondence to Panagiotis N. Koustoumpardis .

Editor information

Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Kapsalas, C.N., Sakellariou, J.S., Koustoumpardis, P.N., Aspragathos, N.A. (2017). On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARX-Based Synthetic Environment. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_6

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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