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.
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Özer, A., Semercigil, S.E. (2011). Effective Vibration Suppression of a Maneuvering Two-Link Flexible Arm with an Event-Based Stiffness Controller. In: Proulx, T. (eds) Structural Dynamics, Volume 3. Conference Proceedings of the Society for Experimental Mechanics Series. Springer, New York, NY. https://doi.org/10.1007/978-1-4419-9834-7_30
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DOI: https://doi.org/10.1007/978-1-4419-9834-7_30
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