An Active Control Method for Vibration and Rotary Motion of Flexible Manipulator

Han Qing-peng; Yu Xiao-guang; Tang Ling; Gao Pei-xin

Volume 31 Issue 4

Apr. 2012

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2012 > 31(4): 685-688

Han Qing-peng, Yu Xiao-guang, Tang Ling, Gao Pei-xin. An Active Control Method for Vibration and Rotary Motion of Flexible Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2012, 31(4): 685-688.

Citation:

Han Qing-peng, Yu Xiao-guang, Tang Ling, Gao Pei-xin. An Active Control Method for Vibration and Rotary Motion of Flexible Manipulator[J]. Mechanical Science and Technology for Aerospace Engineering, 2012, 31(4): 685-688.

Citation:

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An Active Control Method for Vibration and Rotary Motion of Flexible Manipulator

1.
College of Mechanical Engineering, Liaoning Science and Technology University, Anshan 114051;
2.
School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004

Received Date: 2010-12-22
Publish Date: 2015-06-10

Abstract

Abstract

The PZT material was selected in this paper to control the vibration of flexible manipulator.The inverse piezoelectric effects of the PZT material and the principle of suppressing vibration were introduced.PZT actuators and joint control torque were respectively used to control vibration and rotary motion of flexible manipulator.The flexible manipulator was controlled to achieve the desired position in limited time by joint control torque and manipulator's vibration was actively controlled by PZT actuators during motion.The dynamic equations of flexible manipulator system were established.PZT actuators control strategy and joint control torque were designed.The numerical simulation results proved the method of the designed PZT actuator control strategy and joint control torque was effective.
- flexible manipulator,
- joint torque control,
- PZT actuators,
- vibration control

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References(8)

References

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