Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression

P. Boscariol; V. Zanotto

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Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression

机译：具有有效抑制振动的顺应机构的轨迹跟踪控制器的设计

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In this paper, a numerical investigation of the Model Predictive Control strategy applied to flexible-link mechanisms is presented. The mechanisms used for all the tests are a planar five-link mechanisms. The tests are aimed at showing how the proposed control system can be used for the trajectory tracking and the vibration suppression. An analysis of the effects of the choice of tuning parameters is presented as well. The design of the predictive controller is based on a linearized version of an accurate nonlinear dynamic model. The effectiveness of the proposed approach is confirmed by extensive numerical results.

机译：在本文中，对应用于柔性连杆机构的模型预测控制策略进行了数值研究。用于所有测试的机制是平面五连杆机制。测试旨在显示所提出的控制系统如何用于轨迹跟踪和振动抑制。还介绍了调整参数选择的影响。预测控制器的设计基于精确非线性动态模型的线性化版本。广泛的数值结果证实了该方法的有效性。

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来源
《Robotica》 |2012年第1期|p.15-29|共15页
作者
P. Boscariol; V. Zanotto;
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作者单位

Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica Universita di Udine,Via delle Scienze 208, 33100 Udine, Italy;

Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica Universita di Udine,Via delle Scienze 208, 33100 Udine, Italy;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种 eng
中图分类
关键词
vibration; robotics; flexible link; traject-ory; dynamics; mechatronic systems; control of robotic systems;

机译：振动;机器人技术灵活的链接;弹道;动力学;机电系统;机器人系统的控制;

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3. A COMPARISON OF PID AND LQR CONTROLLERS FOR POSITION TRACKING AND VIBRATION SUPPRESSION OF FLEXIBLE LINK MANIPULATOR [J] . E. A. ALANDOLI, M.Z.A. RASHID, MARIZAN SULAIMAN Journal of Theoretical and Applied Information Technology . 2017,第13期

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4. A three-stage controller design for trajectory tracking and vibration suppression of two-link flexible manipulator [C] . Shi, Z.X., Lu, . 1996

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5. A New Framework For Helicopter Vibration Suppression; Time-Periodic System Identification and Controller Design. [D] . Ulker, Fatma Demet. 2011

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6. Robust Tracking of a Cost-Effective Micro-Stereolithography System Based on a Compliant Nanomanipulator [O] . Yue Cao, Zhen Zhang 2019

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Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression

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