Vibration control of a single-link flexible manipulator using an array of fiber optic curvature sensors and PZT actuators
K Gurses, BJ Buckham, EJ Park - Mechatronics, 2009 - Elsevier
This paper presents a novel distributed sensing and actuation approach for actively
suppressing vibrations within flexible link manipulators. Through vibration suppression, the
method acts to regulate the shape of flexible links and, consequently, improves the
performance of any independent trajectory controller being employed over the manipulator
joints. To demonstrate the approach, a series of piezoceramic actuators (PZTs) are bonded
to the surface of a single-link flexible manipulator. Slewing of the flexible link induces …
suppressing vibrations within flexible link manipulators. Through vibration suppression, the
method acts to regulate the shape of flexible links and, consequently, improves the
performance of any independent trajectory controller being employed over the manipulator
joints. To demonstrate the approach, a series of piezoceramic actuators (PZTs) are bonded
to the surface of a single-link flexible manipulator. Slewing of the flexible link induces …