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Control of vibrations for a parallel manipulator with flexible links: concepts and experimental results
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| Veröffentlicht in: | Journal of physics / Conference Series Vol. 744. 2016, Article number 012069, inges. 12 Seiten |
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| Personen und Körperschaften: | , , |
| Titel: | Control of vibrations for a parallel manipulator with flexible links: concepts and experimental results/ M. Morlock, M. Burkhardt, R. Seifried |
| Format: | E-Book-Kapitel |
| Sprache: | Englisch |
| veröffentlicht: |
2016
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| Gesamtaufnahme: |
: Journal of physics / Conference Series, Vol. 744. 2016, Article number 012069, inges. 12 Seiten
, volume:744 |
| Quelle: | Verbunddaten SWB Lizenzfreie Online-Ressourcen |
| Zusammenfassung: | A comprehensive control approach is presented to reduce the vibrations of a parallel manipulator with a kinematic loop and two flexible links whereof the longer one can show significant oscillations. The control objectives are end-effector trajectory tracking and active vibration control. The system is modeled as a flexible multibody system and exact feedforward control based on the full dynamic flexible multibody system is applied to improve the end-effector trajectory tracking performance. Furthermore, the effect of different position control concepts for the two linear drives, such as gain scheduling for the utilized cascade control and a model based friction compensation, on the movers themselves as well as on the end-effector are discussed, which can be conflicting. Experimental results are presented illustrating the achievable accuracy of the end-effector tracking for different trajectories while showing significant error reductions for a feedforward control based on an elastic model in contrast to a rigid one. Finally, a model based curvature controller is utilized which actively controls the occurring oscillations of the parallel manipulator. Here, a proportional controller as well as a linear-quadratic regulator are applied and the impact of an additional curvature control on the end-effector tracking performance is investigated. |
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| Umfang: | 12 |
| ISSN: |
1742-6596
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| DOI: | 10.1088/1742-6596/744/1/012069 |