Experimental results on active control of flexible-link manipulators with embedded piezoceramics

Farshad Khorrami, Issam Zeinoun, Eric Tome

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Much effort has been reported in end-effector positioning of flexible-link manipulators through actuation from the motors at the joints. In this paper, utilization of sensors and actuators along the links are investigated. Specifically, piezoelectric ceramics are considered since they may be utilized both as sensors and actuators. Furthermore, a single piece of the piezoceramic can provide simultaneous sensing and actuation. Experimental setups have been developed at the Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible link manipulators with embedded (or surface-mounted) piezoceramics. The addition of piezoceramics will allow a higher level of control for vibration damping. It will be shown that piezoceramics substantially reduce the vibration of the arm and hence improve the end-effector positioning of the manipulator. The advocated approach for control design is decentralized frequency shaping.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages222-227
Number of pages6
ISBN (Print)0818634529
StatePublished - 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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