Vibration control of manipulators with flexible nonprismatic links using piezoelectric actuators and sensors
type: Item
instance of: scholarly article
title: Vibration control of manipulators with flexible nonprismatic links using piezoelectric actuators and sensors
zbMATH Open document ID: 1179.74038
DOI: 10.1155/2009/727385
author: Valdecir Bottega
author: Alexandre Molter
author: Rejane Pergher
author: J. S. O. Fonseca
published in: Mathematical Problems in Engineering
publication date: 2009-11-13T00:00:00Z
full work available at URL: https://eudml.org/doc/45891
review text: Summary: This work presents a tracking control model for a flexible nonprismatic link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of the flexible manipulator is obtained in a closed form through the Lagrange equations. The control uses the motor torques for the joints tracking control and also to reduce the low-frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling vibrations with frequencies beyond the reach of motor torque control. The naturals frequencies are calculated by the finite element method, and the approximated eigenfunctions are interpolated by polynomials. Three eigenfunctions are used for the dynamics of the arm, while only two are used for the control. Numerical experiments on Matlab/Simulink are used to verify the efficiency of the control model.
Mathematics Subject Classification ID: 74F15
Mathematics Subject Classification ID: 74M05
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93D05
zbMATH DE Number: 5632533
describes a project that uses: Matlab
describes a project that uses: Simulink
MaRDI profile type: Publication
OpenAlex ID: W2161934300
Wikidata QID: Q58649458
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description: scientific article; zbMATH DE number 5632533