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TECHNICAL PAPERS

A Lyapunov-Based Piezoelectric Controller for Flexible Cartesian Robot Manipulators

[+] Author and Article Information
Mohsen Dadfarnia, Nader Jalili, Bin Xian, Darren M. Dawson

Department of Mechanical Engineering, Robotics and Mechatronics Laboratory, Clemson University, Clemson, South Carolina 29634Department of Electrical and Computer Engineering, Robotics and Mechatronics Laboratory, Clemson University, Clemson, South Carolina 29634

J. Dyn. Sys., Meas., Control 126(2), 347-358 (Aug 05, 2004) (12 pages) doi:10.1115/1.1767854 History: Received January 03, 2003; Revised September 19, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

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Figures

Grahic Jump Location
Schematic of the Cartesian robot
Grahic Jump Location
System response for the case without PZT control; (a) beam tip displacement, (b) base motion, and (c) base control force
Grahic Jump Location
System response for the case with PZT control; (a) beam tip displacement, (b) PZT voltage, (c) base motion, and (d) base control force
Grahic Jump Location
Comparison between the tip displacement of three-mode model in response to (a) the proposed controller developed here, and the observer-based controller developed in 27 for (b) Kv=0.01, and (c) Kv=0.15
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The experimental setup; (a) the entire system with all the equipment, (b) PZT actuator, MIDE model No. QP21B, and (c) PZT sensor, MIDE No. QP21B (attached on the other side of the beam)
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Experimental results for the case without PZT control; (a) base motion, and (b) tip displacement
Grahic Jump Location
Experimental results for the case with PZT control; (a) base motion, and (b) tip displacement

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