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. ©2010 Society for Experimental Mechanics Inc.
CITATION STYLE
Özer, A., & Semercigil, S. E. (2011). Effective vibration suppression of a maneuvering two-link flexible arm with an event-based stiffness controller. In Conference Proceedings of the Society for Experimental Mechanics Series (Vol. 3, pp. 323–330). Springer New York LLC. https://doi.org/10.1007/978-1-4419-9834-7_30
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