Active vibration control of a flexible link robot

The video shows two control experiments with a single flexible link robot. The link is actuated in bending by two piezoelectric plates bonded to the surface, and the local curvature is measured by piezoelectric sensors forming a collocated sensor/actuator pair. In both experiments the joint describes the same polynomial trajectory that excites the vibration modes of the link. In the first experiment vibration control with the piezoelectric actuators is turned off, and we can observe a very long settling time of the maneuver as link oscillations are naturally damped. In the second experiment vibration control is turned on, and a significant reduction of the settling time is achieved.

More on flexible link robots and active beams at:

http://web.ist.utl.pt/ist14040/research.htm

Category:

Science & Technology

Tags:

• flexible link
• active beam
• smart link
• piezoelectric
• PZT
• smart materials

[alitavakolpur]

It sounds great. Is it collocation AVC? Which control strategy have you used for AVC?

thank you

[joaoreisist]

@alitavakolpur Yes, it is a collocated control strategy. I used a Positive Position Feedback controller for this experiment.

[stijnemans50]

Can this be used on big containers?