Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

Detalhes bibliográficos
Autor(a) principal: Bottega,Valdecir
Data de Publicação: 2009
Outros Autores: Pergher,Rejane, Fonseca,Jun S. O.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000200003
Resumo: This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. Additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. Simulations on Matlab/Simulink are used to verify the efficiency of the control model.
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spelling Simultaneous control and piezoelectric insert optimization for manipulators with flexible linkpiezoelectric actuatorsflexible linkstracking controloptimizationmanipulatorsThis work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. Additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. Simulations on Matlab/Simulink are used to verify the efficiency of the control model.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2009-06-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000200003Journal of the Brazilian Society of Mechanical Sciences and Engineering v.31 n.2 2009reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782009000200003info:eu-repo/semantics/openAccessBottega,ValdecirPergher,RejaneFonseca,Jun S. O.eng2009-08-25T00:00:00Zoai:scielo:S1678-58782009000200003Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2009-08-25T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
spellingShingle Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
Bottega,Valdecir
piezoelectric actuators
flexible links
tracking control
optimization
manipulators
title_short Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_full Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_fullStr Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_full_unstemmed Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_sort Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
author Bottega,Valdecir
author_facet Bottega,Valdecir
Pergher,Rejane
Fonseca,Jun S. O.
author_role author
author2 Pergher,Rejane
Fonseca,Jun S. O.
author2_role author
author
dc.contributor.author.fl_str_mv Bottega,Valdecir
Pergher,Rejane
Fonseca,Jun S. O.
dc.subject.por.fl_str_mv piezoelectric actuators
flexible links
tracking control
optimization
manipulators
topic piezoelectric actuators
flexible links
tracking control
optimization
manipulators
description This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. Additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. Simulations on Matlab/Simulink are used to verify the efficiency of the control model.
publishDate 2009
dc.date.none.fl_str_mv 2009-06-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000200003
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782009000200003
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782009000200003
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.31 n.2 2009
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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