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Effective vibration suppression of a maneuvering two-link flexible arm via an event-based stiffness controller

Ozer, Abdullah and Semercigil, Eren (2011) Effective vibration suppression of a maneuvering two-link flexible arm via an event-based stiffness controller. International Journal of Robotics and Automation , 26 (2). pp. 159-172. ISSN 0826-8185

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Abstract

Vibration control of a maneuvering flexible robotic arm is a challenging task in the presence of changing structural dynamics which has to deal with measurement inaccuracies and complex modeling efforts. This paper presents an effective and versatile controller for a maneuvering flexible arm. Proposed Variable Stiffness Control (VSC) is stable, due to its being dissipative in nature. The technique is suitable to be implemented as an add-on controller to existing robots, and it requires no additional hardware. Control is based on the detection of a kinematic event, peak relative displacement, rather than an accurate knowledge of structural dynamics. Hence, although there may not be a claim for the suggested control to be the most effective, it certainly represents significant practical advantages for cases where there may be structural uncertainties.

Item Type: Article
Uncontrolled Keywords: ResPubID24933, increased productivity, lightweight manipulators, payload-to-weight ratios, lightweight robotic applications, oscillation, prototype
Subjects: FOR Classification > 0906 Electrical and Electronic Engineering
Faculty/School/Research Centre/Department > School of Engineering and Science
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Depositing User: VUIR
Date Deposited: 18 Dec 2012 05:46
Last Modified: 18 Dec 2012 05:46
URI: http://vuir.vu.edu.au/id/eprint/10399
DOI: 10.2316/Journal.206.2011.2.206-3363
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Citations in Scopus: 2 - View on Scopus

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