Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model
文献类型：会议论文
| 作者 | Qin Y(秦勇); Han JD(韩建达) ; Yang TW(杨唐文)
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| 出版日期 | 2016 |
| 会议名称 | 3rd International Conference on Cognitive Systems and Information Processing, ICCSIP 2016 |
| 会议日期 | November 19, 2016 - November 23, 2016 |
| 会议地点 | Beijing, China |
| 关键词 | Flexible robotic arm Lumped dynamic model Vibration control Wave absorption |
| 页码 | 425-442 |
| 通讯作者 | Yang TW(杨唐文) |
| 中文摘要 | A wave absorption control strategy is proposed to suppress vibration at the distal end of a flexible robotic arm while achieving accurate position control. It assumes the flexible arm with an actuator at one end and a load at the other, and interprets the arm’s dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is thus resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added subsequently. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The properties of the control scheme proposed are studied throughout. It works very well under uncertainty, and is stable and robust, for tip positioning and trajectory tracking control, as demonstrated in the numerical results. |
| 收录类别 | EI |
| 产权排序 | 3 |
| 会议录 | Communications in Computer and Information Science
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Singapore |
| 语种 | 英语 |
| ISSN号 | 1865-0929 |
| ISBN号 | 978-981-10-5230-9 |
| WOS记录号 | WOS:000432311900042 |
| 源URL | [http://ir.sia.cn/handle/173321/20819]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.Institute of Information Science, Beijing Jiaotong University, Beijing, 100044, China 2.State Key Laboratory of Robotics Shenyang Institute of Automation, CAS, Shenyang, 110016, China 3.State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, 100044, China |
| 推荐引用方式 GB/T 7714 | Qin Y,Han JD,Yang TW. Vibration control of a flexible robotic arm by wave absorption based on a lumped dynamic model[C]. 见:3rd International Conference on Cognitive Systems and Information Processing, ICCSIP 2016. Beijing, China. November 19, 2016 - November 23, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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