Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Position and Vibration Control of Flexible 2-Link Robot Arm Using Piezoelectric Actuators and Sensors

압전 작동기 및 감지기를 이용한 유연한 2링크 로봇팔의 위치 및 진동제어

  • Published : 2000.11.01
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Abstract

This paper presents a hybrid actuator scheme to actively control the end-point position and vibration of a two-link flexible robot arm. Control scheme consists of four different actuators; two servo-motors at the hubs and two piezoceramics bonded to the surfaces of the flexible links. Two sliding hyperplanes are designed for two servo-motors which have time varying parameters to maintain control performance in any configuration. The surface gradients of the hyperplanes are determined by pole assignment technique to guarantee the stability on the hyperplanes themselves. During the motion, undesirable oscillations caused by the torques based on the rigid link dynamics are actively suppressed by applying feedback control voltages to the piezoceramic actuators. Consequently, desired tip motion is achieved. In order to demonstrate the effectiveness of the proposed methodology, experiments are performed for the regulating and tracking control problems.

Keywords

References

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