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Publisher DOI: 10.1088/1742-6596/744/1/012069
Title: Control of vibrations for a parallel manipulator with flexible links — concepts and experimental results
Language: English
Authors: Morlock, Merlin 
Burkhardt, Markus 
Seifried, Robert  
Issue Date: 2016
Publisher: IOP
Source: Journal of Physics: Conference Series (744): 012069- (2016)
Abstract (english): 
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.
DOI: 10.15480/882.1802
ISSN: 1742-6596
Journal: Journal of physics. Conference Series 
Institute: Mechanik und Meerestechnik M-13 
Document Type: Article
Project: Modellierung und Vorsteuerungsentwurf für Flexible Mehrkörpersysteme mit Umgebungskontakt 
License: CC BY 3.0 (Attribution) CC BY 3.0 (Attribution)
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