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Vibration Control of a Single-Link Flexible Manipulator Using Reaction Moment Estimator

반력모멘트 추정기를 이용한 단일 링크 유연 조작기의 진동제어

  • 신호철 (한국원자력연구소 원자력로봇랩) ;
  • 한상수 (한국원자력연구소 원자력로봇랩) ;
  • 김승호 (한국원자력연구소 원자력로봇랩)
  • Published : 2005.02.01

Abstract

In this paper, a novel vibration control scheme for a single-link flexible manipulator system without using a vibration feedback sensor is proposed. In order to achieve the vibration information of the flexible link, a reaction moment estimator based on the dynamic characteristics of the flexible manipulator is proposed. While the manipulator is maneuvering the reaction moment is reciprocally acting on the flexible link and the hub inertia due to the vibration of the link. A sliding mode controller based on the equivalent rigid body dynamics corresponding to the proposed flexible manipulator is then augmented with the reaction moment estimator to realize a decentralized control system. The reaction moment estimator is implemented via the first order low pass filter. The performance of the proposed control scheme is verified by computer simulation and experiment.

Keywords

References

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