Vibration Control of a Space Flexible Robot Manipulator Using PZT Actuators

Jun Qiang Lou; Yan Ding Wei

doi:10.4028/www.scientific.net/AMM.66-68.1142

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 66-68Vibration Control of a Space Flexible Robot...

Vibration Control of a Space Flexible Robot Manipulator Using PZT Actuators

Abstract:

The dynamic analysis and control of flexible robot manipulators have been the main concerns of many recent studies in aeronautics and robotics. Moreover, the complexity of this problem increases when a flexible manipulator carries a payload. In this paper, we proposed a space two-link flexible manipulator with tip payload featuring surface-bonded piezoelectric torsional actuator and shear actuator. The equations of motion for the system are obtained using Hamilton’s principle. A Lyapunov-based controller is proposed to suppress the vibration of the system. Stability of the system is also investigated. The simulation results demonstrate the proposed control strategy is well suited for active control of vibration suppression on flexible manipulators.

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Periodical:

Applied Mechanics and Materials (Volumes 66-68)

Pages:

1142-1148

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.66-68.1142

Citation:

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Online since:

July 2011

Authors:

Jun Qiang Lou, Yan Ding Wei

Keywords:

Active Vibration Control, Flexible Manipulator, Lyapunov Controller, Piezoelectric Actuator

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References

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