Vibration control of redundant flexible-joint manipulators

被引：1
|
作者：
Xi, FF
机构：
[1] Institute for Sensor and Control Technology, National Research Council Canada, Vancouver, BC
来源：
JOURNAL OF MANUFACTURING SCIENCE AND ENGINEERING-TRANSACTIONS OF THE ASME | 1997年 / 119卷 / 01期
关键词：
D O I：
10.1115/1.2836549
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Presented ia this paper is a method for controlling vibrations of a redundant flexible-joint manipulator. The main idea behind this method is to utilize joint redundancy to minimize the change in the manipulator inertia, so that a simple gain-fixed control law can be used to control joint vibrations. For this purpose, two optimal joint trajectory generators are proposed; one is based on the extended Jacobian method and the other is based on an optimization technique. Numerical simulations are provided to demonstrate the effectiveness of the proposed control method.
引用
收藏
页码：119 / 125
页数：7
相关论文
共 50 条
  • [1] Active vibration control of flexible-joint manipulators using accelerometers
    Zhao, Pu
    Zhou, Yunfei
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2020, 47 (01): : 33 - 44
  • [2] Adaptive control of flexible-joint manipulators
    Ghorbel, Fathi
    Hung, John Y.
    Spong, Mark W.
    [J]. IEEE Control Systems Magazine, 1989, 9 (07): : 9 - 13
  • [3] A study of the free vibration of flexible-link flexible-joint manipulators
    Vakil, M.
    Fotouhi, R.
    Nikiforuk, P. N.
    Heidari, F.
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2011, 225 (C6) : 1361 - 1371
  • [4] Vibration Control of Nonholonomically Redundant Flexible Manipulators
    Chen Wei
    Yu Yue-qing
    Zhao Xin-hua
    Zhao Lian-yu
    [J]. ADVANCED DESIGN AND MANUFACTURE II, 2010, 419-420 : 617 - +
  • [5] Method for vibration control of flexible redundant manipulators
    Beijing Univ of Aeronautics and, Astronautics, Beijing, China
    [J]. Beijing Hangkong Hangtian Daxue Xuebao, 4 (491-494):
  • [6] Vibration Suppressive Control of Flexible-Joint Space Manipulators Based on Legendre Pseudospectral Method
    Xu, Guangyan
    Sun, Changming
    Zhang, Hongmei
    Chen, Xia
    Zhou, Biao
    [J]. 26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 3322 - 3327
  • [7] Saturated proportional derivative control of flexible-joint manipulators
    Caverly, Ryan James
    Zlotnik, David Evan
    Bridgeman, Leila Jasmine
    Forbes, James Richard
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2014, 30 (06) : 658 - 666
  • [8] Adaptive compliant motion control of flexible-joint manipulators
    Colbaugh, R
    Glass, K
    Gallegos, G
    [J]. PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1997, : 1873 - 1878
  • [9] Control of flexible-joint underactuated manipulators in task space
    Naghibi, S. Reza
    Pirmohamadi, Ali. A.
    Moosavian, S. Ali. A.
    [J]. 2016 4TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2016, : 1 - 6
  • [10] A manoeuvre control strategy for flexible-joint manipulators with joint dry friction
    Salmasi, H.
    Fotouhi, R.
    Nikiforuk, P. N.
    [J]. ROBOTICA, 2010, 28 : 621 - 635
12345