[go: up one dir, main page]

Sun et al., 2004 - Google Patents

A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement

Sun et al., 2004

Document ID
17226607520998631872
Author
Sun D
Mills J
Shan J
Tso S
Publication year
Publication venue
Mechatronics

External Links

Snippet

This paper describes an approach for the use of smart materials, specifically, piezoelectric materials (PZT), in control of a single-link flexible manipulator. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages …
Continue reading at www.sciencedirect.com (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. micro adjustment of the end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Similar Documents

Publication Publication Date Title
Sun et al. A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement
Shin et al. Position control of a two-link flexible manipulator featuring piezoelectric actuators and sensors
Albu-Schäffer et al. A globally stable state feedback controller for flexible joint robots
Shan et al. Slewing and vibration control of a single-link flexible manipulator by positive position feedback (PPF)
Ge et al. Improving regulation of a single-link flexible manipulator with strain feedback
Tso et al. Vibration control for a flexible-link robot arm with deflection feedback
Gurses et al. Vibration control of a single-link flexible manipulator using an array of fiber optic curvature sensors and PZT actuators
Gaul et al. Semi‐active friction damping of large space truss structures
Khulief Vibration suppression in using active modal control
Kim et al. Compliant control of a two-link flexible manipulator featuring piezoelectric actuators
Wang et al. FEM dynamic model for active vibration control of flexible linkages and its application to a planar parallel manipulator
Zhang et al. Dynamic model and input shaping control of a flexible link parallel manipulator considering the exact boundary conditions
Alandoli et al. A review study on flexible link manipulators
Sun et al. Control of a rotating cantilever beam using a torque actuator and a distributed piezoelectric polymer actuator
Zhang et al. Experimental implementation on vibration mode control of a moving 3-PRR flexible parallel manipulator with multiple PZT transducers
Bernzen Active vibration control of flexible robots using virtual spring-damper systems
Sutton et al. Modelling and H∞ control of a single-link flexible manipulator
Wilson et al. Augmented sliding mode control for flexible link manipulators
Zhang et al. Vibration control of elastodynamic response of a 3-PRR flexible parallel manipulator using PZT transducers
Sun et al. Study on piezoelectric actuators in control of a single-link flexible manipulator
Kang et al. Vibration control of a planar parallel manipulator using piezoelectric actuators
Zhang et al. Active Vibration Suppression of a 3‐DOF Flexible Parallel Manipulator Using Efficient Modal Control
Yessirkepov et al. Design and analysis of a parallel elastic shoulder joint for humanoid robotics application
Tsetserukou et al. Vibration damping control of robot arm intended for service application in human environment
Sun et al. Combined pd feedback and distributed piezoelectric-polymer vibration control of a single-link flexible manipulator