Active vibration control of a flexible manipulator in a parallel drive mechanism

Young Kyun Ha; Seung Chul Choi; Jae Won Kim; Sang Jo Lee; Young Pil Park

Active vibration control of a flexible manipulator in a parallel drive mechanism

Young Kyun Ha, Seung Chul Choi, Jae Won Kim, Sang Jo Lee, Young Pil Park

Department of Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

Abstract

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using Galerkin's mode summation method, for modal control. Digital optimal control and observer theory are used for the system to suppress the arm vibration and control the position of joint angle with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

Original language	English
Pages (from-to)	474-478
Number of pages	5
Journal	Proceedings of the International Modal Analysis Conference - IMAC
Volume	1
Publication status	Published - 1991
Event	Proceedings of the 9th International Modal Analysis Conference Part 1 (of 2) - Florence, Italy Duration: 1991 Apr 15 → 1991 Apr 18

All Science Journal Classification (ASJC) codes

Engineering(all)

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title = "Active vibration control of a flexible manipulator in a parallel drive mechanism",

abstract = "A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using Galerkin's mode summation method, for modal control. Digital optimal control and observer theory are used for the system to suppress the arm vibration and control the position of joint angle with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.",

author = "Ha, {Young Kyun} and Choi, {Seung Chul} and Kim, {Jae Won} and Lee, {Sang Jo} and Park, {Young Pil}",

year = "1991",

language = "English",

volume = "1",

pages = "474--478",

journal = "Proceedings of the International Modal Analysis Conference - IMAC",

issn = "1046-6770",

publisher = "Society for Experimental Mechanics",

note = "Proceedings of the 9th International Modal Analysis Conference Part 1 (of 2) ; Conference date: 15-04-1991 Through 18-04-1991",

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TY - JOUR

T1 - Active vibration control of a flexible manipulator in a parallel drive mechanism

AU - Ha, Young Kyun

AU - Choi, Seung Chul

AU - Kim, Jae Won

AU - Lee, Sang Jo

AU - Park, Young Pil

PY - 1991

Y1 - 1991

N2 - A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using Galerkin's mode summation method, for modal control. Digital optimal control and observer theory are used for the system to suppress the arm vibration and control the position of joint angle with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

AB - A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using Galerkin's mode summation method, for modal control. Digital optimal control and observer theory are used for the system to suppress the arm vibration and control the position of joint angle with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

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UR - http://www.scopus.com/inward/citedby.url?scp=0025757653&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0025757653

VL - 1

SP - 474

EP - 478

JO - Proceedings of the International Modal Analysis Conference - IMAC

JF - Proceedings of the International Modal Analysis Conference - IMAC

SN - 1046-6770

T2 - Proceedings of the 9th International Modal Analysis Conference Part 1 (of 2)

Y2 - 15 April 1991 through 18 April 1991

ER -

Active vibration control of a flexible manipulator in a parallel drive mechanism

Abstract

All Science Journal Classification (ASJC) codes

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