Experimental evaluation of preshaped inputs to reduce vibration for flexible manipulator

被引：0
|
作者：
Liu, Ke-Ping [1 ]
机构：
[1] Changchun Univ Technol, Sch Elect & Elect Engn, Changchun 130012, Peoples R China
来源：
PROCEEDINGS OF 2007 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2007年
关键词：
input shaping technique; vibration reduction; flexible manipulator; feedback linearization;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Dynamics of multi-link manipulators are highly nonlinear. Furthermore, the vibration frequencies of flexible manipulators are configuration-dependent. In this paper, a feedback linearization combined with input shaping control approach is proposed for flexible manipulators. The dynamics of single link flexible manipulators is partially linearized using feedback linearization scheme. Meanwhile, the control scheme is combined with an input shaper for vibration suppression. The reference input signals are pre-shaped to suppress the tip vibration. Experimental results for a single-link flexible manipulator are provided to validate the effectiveness of the advocated controllers.
引用
收藏
页码：2411 / 2415
页数：5
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