Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method
This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/21/9907 |
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| author | José Mário Araújo Jason Bettega Nelson J. B. Dantas Carlos E. T. Dórea Dario Richiedei Iacopo Tamellin |
| author_facet | José Mário Araújo Jason Bettega Nelson J. B. Dantas Carlos E. T. Dórea Dario Richiedei Iacopo Tamellin |
| author_sort | José Mário Araújo |
| collection | DOAJ |
| description | This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application. |
| first_indexed | 2024-03-10T06:07:30Z |
| format | Article |
| id | doaj.art-da711bc0cd634237b8a78e5660f7d4d1 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T06:07:30Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-da711bc0cd634237b8a78e5660f7d4d12023-11-22T20:24:54ZengMDPI AGApplied Sciences2076-34172021-10-011121990710.3390/app11219907Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance MethodJosé Mário Araújo0Jason Bettega1Nelson J. B. Dantas2Carlos E. T. Dórea3Dario Richiedei4Iacopo Tamellin5Grupo de Pesquisa em Sinais e Sistemas, Instituto Federal de Educação, Ciência e Tencnologia da Bahia, Salvador 40301-015, BrazilDepartment of Management and Engineering, University of Padova, 36100 Vicenza, ItalyDepartamento de Engenharia de Computação e Automação, Universidade Federal do Rio Grande do Norte, Natal 59078-900, BrazilDepartamento de Engenharia de Computação e Automação, Universidade Federal do Rio Grande do Norte, Natal 59078-900, BrazilDepartment of Management and Engineering, University of Padova, 36100 Vicenza, ItalyDepartment of Management and Engineering, University of Padova, 36100 Vicenza, ItalyThis paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application.https://www.mdpi.com/2076-3417/11/21/9907receptance methodpole placementrobust controlactive vibration controlflexible systemsrobotic arm |
| spellingShingle | José Mário Araújo Jason Bettega Nelson J. B. Dantas Carlos E. T. Dórea Dario Richiedei Iacopo Tamellin Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method Applied Sciences receptance method pole placement robust control active vibration control flexible systems robotic arm |
| title | Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method |
| title_full | Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method |
| title_fullStr | Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method |
| title_full_unstemmed | Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method |
| title_short | Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method |
| title_sort | vibration control of a two link flexible robot arm with time delay through the robust receptance method |
| topic | receptance method pole placement robust control active vibration control flexible systems robotic arm |
| url | https://www.mdpi.com/2076-3417/11/21/9907 |
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