Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members-Reference-Cited by-同舟云学术

Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members

Published:1995-12-01 Issue:4 Volume:117 Page:640-643
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Choi Seung-Bok¹,Thompson B. S.²,Gandhi M. V.²

Affiliation:

1. Department of Mechanical Engineering, Inha University, Incheon 402-751, Korea

2. Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824

Abstract

This technical brief addresses the dynamic modeling and control methodology to suppress structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded piezoelectric actuators and sensors. The dynamic modeling is accomplished by developing a finite element formulation. The governing equation of motion is then modified by condensing the electric potential vectors, and subsequently two different feedback controllers are established: a constantgain feedback controller and a constant-amplitude feedback controller. Computer simulations are undertaken in order to demonstrate the superior performance characteristics, such as smaller deflections at the end-effector, to be accrued from the proposed methodology.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/117/4/640/5583246/640_1.pdf

Reference7 articles.

1. Gandhi, M. V., and Thompson, B. S., 1992, Smart Materials and Structures, Chapman & Hall, London.

2. Plump J. M. , HubbardJ. E., and BaileyT., 1987, “Nonlinear Control of a Distributed System: Simulation and Experimental Results,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 109, pp. 133–139.

3. Tzou H. S. , and TsengC. I., 1990, “Distributed Piezoelectric Sensor/Actuator Design for Dynamic Measurement/Control of Distributed Parameter Systems: A Piezoelectric Finite Element Approach,” Journal of Sound and Vibration, Vol. 138, No. 1, pp. 17–34.

4. Choi S. B. , CheongC. C., ThompsonB. S., and GandhiM. V., 1994, “Vibration Control of Flexible Linkage Mechanisms Using Piezoelectric Films,” Mechanism and Machine Theory, Vol. 29, No. 4, pp. 535–546.

5. Rogers C. A. , LiangC., and JiaJ., 1991, “Structural Modification of Simply-Supported Laminated Plates Using Embedded Shape Memory Alloy Fibers,” Computers and Structures, Vol. 38, pp. 569–580.

Cited by 9 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Accurate position control of a flexible arm using a piezoactuator associated with a hysteresis compensator;Smart Materials and Structures;2013-03-07

2. Control of Flexible Robotic Manipulators;Piezoelectric Actuators;2010-04-16

3. Vibration Control of Flexible Structure;Piezoelectric Actuators;2010-04-16

4. Vibration control of a smart beam structure subjected to actuator uncertainty: Experimental verification;Acta Mechanica;2005-11-07

5. Vibration control of linear robots using a piezoelectric actuator;IEEE/ASME Transactions on Mechatronics;2003-12