Control concepts for a parallel manipulator with flexible links
نویسندگان
چکیده
منابع مشابه
Hybrid Concepts of the Control and Anti-Control of Flexible Joint Manipulator
This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...
متن کاملMulti-mode Vibration Control and Position Error Analysis of Parallel Manipulator with Multiple Flexible Links
This paper presents multi-mode vibration control and analysis of moving platform position errors of a planar 3-PRR parallel manipulator with three flexible intermediate links using PZT transducers. The active vibration controller is designed in modal space with modal filters and modal synthesizers determined from the flexible link vibration characteristics. Estimation of the moving platform pos...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملA Parallel Fuzzy Controller for a Manipulator with Flexible Joints
This paper describes a parallel controller that was developed at the Center for Intelligent Systems at Vanderbilt University to control a manipulator with exible joints. The joints are actuated with muscle-like actuators called rubbertuators which exhibit nonlinear behavior. The paper presents the diierent control techniques that were used to control the manipulator. These techniques are PID, f...
متن کاملhybrid concepts of the control and anti-control of flexible joint manipulator
this paper presents a gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. to study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. the adaptation laws of designed controller are obtained based on sliding m...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: PAMM
سال: 2016
ISSN: 1617-7061
DOI: 10.1002/pamm.201610398