An enhanced control technique for the elimination of residual vibrations in flexible-joint manipulators

4Citations
Citations of this article
7Readers
Mendeley users who have this article in their library.

Abstract

One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.

Cite

CITATION STYLE

APA

Conker, C., Kilic, A., Mistikoglu, S., Kapucu, S., & Yavuz, H. (2014). An enhanced control technique for the elimination of residual vibrations in flexible-joint manipulators. Strojniski Vestnik/Journal of Mechanical Engineering, 60(9), 592–599. https://doi.org/10.5545/sv-jme.2014.1698

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free