Active vibration control of flexible two-link manipulator
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Date
2014
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Publisher
University of New Brunswick
Abstract
A finite element based model predictive controller (FEMPC) is implemented for attenuating
vibrations of a two flexible link planar manipulator. This manipulator
consists of two revolute joints driven by DC motors. Due to the flexibility of the
links, both links are susceptible to vibrations, hence, reducing the accuracy in tracking
of the end effector. As such piezoelectric plates are use as actuators to apply
corrective action to suppress vibrations. The FEMPC control structure, determining
these actions, is based on the structure used in dynamic matrix control (DMC),
with the exception that a finite element (FE) model replaces how the predictions
are formulated. This FE model is developed from and utilized to described the
dynamics of each individual link. The FE predictor uses the measured strain and
control actions sent to the setup to simulate the response of each link. Results show
that using model predictive control has advantages in vibration control over simple
conventional control, in particular proportional control. Furthermore, improvements
on the model used in predicting the vibrational response will further improve on the
attenuation of vibrations.