Computer simulations on vibration control of a flexible single-link manipulator using finite-element method

Muhammad, Abdul Kadir (2014) Computer simulations on vibration control of a flexible single-link manipulator using finite-element method. In: The Nineteenth International Symposium on Artificial Life and Robotics 2014 (AROB 19th 2014), 22-24 January 2014, Japan.

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Abstract

The purposes of this research are to formulate the equation of motion of the system, to develop the computational
codes by a finite-element method in order to perform dynamics simulations with vibration control and to propose an effective
control scheme of a flexible single-link manipulator. The system used in this paper consists of an aluminum beam as a flexible
link, a clamp-part, a servo motor to rotate the link and a couple of piezoelectric actuator to control vibration. Computational
codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues - eigenvectors analysis were
developed to calculate the dynamic behavior of the link. Furthermore, a control scheme using the piezoelectric actuators was
designed to suppress the vibration. A proportional-derivative controller was designed and demonstrated its performances. The
calculated results of the controlled single-link manipulator revealed that the vibration of the flexible manipulator can be
controlled effectively.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Jurusan Teknik Mesin > D4 Teknik Mekatronika
Depositing User: Dr.Eng. Abdul Kadir Muhammad, ST., M.Eng.
Date Deposited: 30 Apr 2023 14:40
Last Modified: 27 May 2023 09:13
URI: http://repository.poliupg.ac.id/id/eprint/1096

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