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Technical Briefs

Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control

[+] Author and Article Information
Paolo Boscariol

Department of Electrical, Managerial, and Mechanical Engineering, University of Udine, Via delle Scienze 208, 33100 Udine, Italypaolo.boscariol@uniud.it

Alessandro Gasparetto

Department of Electrical, Managerial, and Mechanical Engineering, University of Udine, Via delle Scienze 208, 33100 Udine, Italygasparetto@uniud.it

Vanni Zanotto1

Department of Electrical, Managerial, and Mechanical Engineering, University of Udine, Via delle Scienze 208, 33100 Udine, Italyvanni.zanotto@uniud.it

1

Corresponding author.

J. Dyn. Sys., Meas., Control 132(1), 014506 (Dec 22, 2009) (4 pages) doi:10.1115/1.4000658 History: Received September 17, 2008; Revised September 18, 2009; Published December 22, 2009; Online December 22, 2009

In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high-speed and lightweight robots. In this paper, a constrained model-based predictive control is employed for controlling both position and vibrations in a mechanism with high link flexibility. This kind of controller has so far been used mainly to control slow processes, but here simulation results that show its effectiveness in dealing with high-speed and nonlinear processes are presented. The mechanism chosen to evaluate the performances is a four-link closed chain mechanism laying on the horizontal plane and driven by a single torque-controlled electric motor.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

The four-link mechanism used for simulations

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Figure 2

Elastic displacements in the four-link mechanism

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Figure 3

Displacement vibration u12: actual value, observed value, and error

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Figure 4

Angular position of the crank q: Hc ranging from 1 to 55. Hp=35 and Ts=1 ms.

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Figure 5

Elastic displacement u10 in the midpoint of the follower link: Hc ranging from 1 to 55. Hp=35 and Ts=1 ms.

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Figure 6

Angular position of the crank q: Ts ranging from 1 ms to 10 ms. Hp=35 and Hc=10.

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Figure 7

Elastic displacement u10: Ts ranging from 1 ms to 10 ms. Hp=35 and Hc=10.

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Figure 8

Elastic displacement u10: estimation error with Ts ranging from 1 ms to 10 ms. Hp=35 and Hc=10.

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Figure 9

Non-nominal plant. Angular position of the crank q: Hc ranging from 35 to 55. Hp=10 and Ts=1 ms.

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Figure 10

Non-nominal plant. Elastic displacement u10: Hc ranging from 35 to 55. Hp=10 and Ts=1 ms.

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