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

Abdul, Kadir Muhammad and Barlas, Raheel Khan and Shingo, Okamoto and Jae, Hoon Lee (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, March 12-14, 2014, Hongkong.

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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: Department of Mechanical Engineering > Teknik Mekatronika
Depositing User: Abdul Kadir Muhammad
Date Deposited: 14 Dec 2016 06:10
Last Modified: 14 Dec 2016 06:10
URI: http://repository.poliupg.ac.id/id/eprint/71

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