Computer Simulations and Experiments on Vibration Control of a Flexible Link Manipulator Using a Piezoelectric Actuator

Muhammad, Abdul Kadir (2014) Computer Simulations and Experiments on Vibration Control of a Flexible Link Manipulator Using a Piezoelectric Actuator. In: Proceedings of the International MultiConference of Engineers and Computer Scientists 2014 Vol I, IMECS 2014, March 12 - 14, 2014, Hong Kong, March 12 - 14, 2014,, Hong Kong.

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Abstract

The purposes of this research are to formulate
the equation of motion of the system, to develop computational
codes by a finite-element method in order to perform dynamics
simulation with vibration control, to propose an effective
control scheme and to confirm the calculated results by
experiments of a flexible 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 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 actuator was designed to
suppress the vibration. A proportional controller was designed
and demonstrated its performances. The system and the
proposed control scheme were confirmed through experiments.
The calculated and experimental results revealed that the
vibration of the flexible link 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 14:39
Last Modified: 27 May 2023 09:13
URI: http://repository.poliupg.ac.id/id/eprint/1098

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