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Research Papers

Delayed Reference Control Applied to Flexible Link Mechanisms: A Scheme for Effective and Stable Control

[+] Author and Article Information
Giovanni Boschetti

Dipartimento di Tecnica e Gestione dei Sistemi Industriali,  Università degli Studi di Padova, Stradella S. Nicola 3 - 36100 Vicenza, Italygiovanni.boschetti@unipd.it

Dario Richiedei

Dipartimento di Tecnica e Gestione dei Sistemi Industriali,  Università degli Studi di Padova, Stradella S. Nicola 3 - 36100 Vicenza, Italydario.richiedei@unipd.it

Alberto Trevisani1

Dipartimento di Tecnica e Gestione dei Sistemi Industriali,  Università degli Studi di Padova, Stradella S. Nicola 3 - 36100 Vicenza, Italyalberto.trevisani@unipd.it

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(1), 011003 (Dec 02, 2011) (9 pages) doi:10.1115/1.4005039 History: Received May 13, 2010; Revised July 18, 2011; Published December 02, 2011; Online December 02, 2011

This paper extends the use of delayed reference controllers to the simultaneous motion and vibration control of flexible link mechanisms. Vibration damping is achieved by introducing an “equivalent damping force” into the system through the computation of a suitable delayed time. The delayed time, which is based on the measured vibrations, is then employed in the trajectory planner to set the reference input. The stability of the controller is discussed and its effectiveness is proved by applying it to a four-bar planar linkage with flexible links.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 1

Cascade structure of the DRC

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Figure 2

Kinematic scheme and finite element representation of the four-bar linkage

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Figure 3

Piecewise-linear motion law: actual and reference positions of the crank angle versus time

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Figure 4

Piecewise-linear motion law: tracking error versus time

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Figure 5

Piecewise-linear motion law: time delay versus time

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Figure 6

Piecewise-linear motion law: link curvatures versus time

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Figure 7

Piecewise-linear motion law: link curvatures obtained modifying G (s)

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Figure 8

Sinusoidal motion law: actual and reference positions of the crank angle versus time

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Figure 9

Sinusoidal motion law: tracking error versus time

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Figure 10

Sinusoidal motion law: link curvatures versus time

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Figure 11

Sinusoidal motion law: time delay versus time

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