JOURNAL BROWSE
Search
Advanced SearchSearch Tips
A Study of Vibration Control of a Slender Structure Using a Multi-Degree-of-Freedom Manipulator
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
A Study of Vibration Control of a Slender Structure Using a Multi-Degree-of-Freedom Manipulator
Kim, Nak-In; Lee, Jong-Won;
  PDF(new window)
 Abstract
A multi d.o.f robotic manipulator is considered for multi-axis vibration control of a slender structure, using the concept of the flow source based vibration control. In order not to cause the motion saturation of the manipulator system, a hybrid dynamics associated with the flexible and desired manipulator error dynamics is also modeled as the control object. It is numerically shown that the flexible vibrations and the base motions of a test structure can be effectively controlled with the proposed hybrid dynamics.
 Keywords
Flexible Slender Structure;Vibration Control;Hybrid Dynamics;Multi-Degree-of-Freedom Manipulator;
 Language
Korean
 Cited by
 References
1.
Sakawa, Y. and Luo, Z.-H., 1989 ,'Modeling and Control of Coupled Bending and Torsional Vibrations of Flexible Beams,' IEEE Transactions of Automatic Control, Vol. 34, No. 9, pp. 970-977 crossref(new window)

2.
ASME Transaction of Journal of Dynamic System, Measurement, and Control, 1997. vol.119. pp.421-430

3.
Chen, L. and Chalhoub, N. G., 1997, 'Modeling and Control of Transverse and Torsional Vibration in a Spherical Robotic Manipulator: Theoretical and Experimental Results,' ASME Transaction of Journal of Dynamic System, Measurement, and Control, Vol. 119, pp. 421-430

4.
Yuan, K. and Hu, C.-M., 1996, 'Nonlinear Modeling and Partial Linearizing Control of a Slewing Timoshenko-Beam, Transaction of ASME Journal of Dynamic, Measurement, and Control, Vol. 118, pp. 75-83

5.
Meirovitch, L., 1997, 'Principles and Techniques of Vibrations,' Prentice-Hall International, Inc

6.
김낙인, 1999, '스튜워트 플렛폼 운동장치의 강인운동제어 및 세장구조물 진동제어에의 응용,' 한국과학기술원 박사논문, 한국과학기술원

7.
Choi, C. H., Reha, J. H. and Park, K. H., 1997, 'Flow Source Based Active Vibration Control,' Asia-Pacific Vibration Conference '97, November 9-13, Kyongju, Korea, pp. 1280-1285

8.
Goldenberg, A. A. and Rakhsha, F., 1986, 'Feed-Forward Control of a Single-Link Flexible Robot,' Mechanism and Machine Theory, Vol. 4, pp. 325-335 crossref(new window)

9.
Nag-In Kim and Chong-Won, Lee, 1998, 'High Speed Tracking Control of Stewart Platform Manipulator via Enhanced Sliding Mode Control,' IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 2716-2721 crossref(new window)

10.
Meirovitch, L., 1989, Dynamics and Control of Structure, A Wiley-Interscience Publication, pp. 323-333

11.
Transaction of ASME Journal of Dynamic Systems Measurement, and Control, 1996. vol.118. pp.704-713

12.
Sharf, I., 1996, 'Active Damping of a Large Flexible Manipulator with a Short-Reach Robot,' Transaction of ASME Journal of Dynamic Systems Measurement, and Control, Vol. 118, pp. 704-713

13.
Warren, S. R. et al, 1995, 'Robust Control of a Slewing Beam System,' Journal of Vibration and Control, Vol. 1, pp. 251-271 crossref(new window)

14.
Yang, Y. M. and Liu, Y. C., 1995, 'Frequency Domain Control of Flexible Beams with Piezoelectric Actuator,' ASME Transaction of Journal of Dynamic System, Measurement, and Control, Vol. 117, pp. 541-546

15.
Watanabe, T. and Yoshida, K., 1994, '$H^{\infty}/{\mu}$ Vibration Control of Flexible Structure using Multiple Active Dynamic Vibration Absorber System,' Second International Conference on Motion and Vibration Control, pp. 150-155