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Control of vibrations for a parallel manipulator with flexible links — concepts and experimental results
Citation Link: https://doi.org/10.15480/882.1802
Publikationstyp
Journal Article
Date Issued
2016
Sprache
English
Author(s)
Institut
TORE-DOI
Volume
744
Issue
1
Start Page
Art-Nr. 012069
Citation
Journal of Physics: Conference Series (744): 012069- (2016)
Publisher DOI
Scopus ID
Publisher
IOP
A comprehensive control approach is presented to reduce the vibrations of a parallel manipulator with a kinematic loop and two flexible links whereof the longer one can show significant oscillations. The control objectives are end-effector trajectory tracking and active
vibration control. The system is modeled as a flexible multibody system and exact feedforward control based on the full dynamic flexible multibody system is applied to improve the end-effector
trajectory tracking performance. Furthermore, the effect of different position control concepts for the two linear drives, such as gain scheduling for the utilized cascade control and a model based
friction compensation, on the movers themselves as well as on the end-effector are discussed, which can be conflicting. Experimental results are presented illustrating the achievable accuracy
of the end-effector tracking for different trajectories while showing significant error reductions for a feedforward control based on an elastic model in contrast to a rigid one. Finally, a model based
curvature controller is utilized which actively controls the occurring oscillations of the parallel manipulator. Here, a proportional controller as well as a linear-quadratic regulator are applied and the impact of an additional curvature control on the end-effector tracking performance is investigated.
vibration control. The system is modeled as a flexible multibody system and exact feedforward control based on the full dynamic flexible multibody system is applied to improve the end-effector
trajectory tracking performance. Furthermore, the effect of different position control concepts for the two linear drives, such as gain scheduling for the utilized cascade control and a model based
friction compensation, on the movers themselves as well as on the end-effector are discussed, which can be conflicting. Experimental results are presented illustrating the achievable accuracy
of the end-effector tracking for different trajectories while showing significant error reductions for a feedforward control based on an elastic model in contrast to a rigid one. Finally, a model based
curvature controller is utilized which actively controls the occurring oscillations of the parallel manipulator. Here, a proportional controller as well as a linear-quadratic regulator are applied and the impact of an additional curvature control on the end-effector tracking performance is investigated.
DDC Class
600: Technik
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