DocumentCode :
2756071
Title :
A Dynamic Performance Evaluation of Flexible Manipulator with Active Proportional Damping and Estimation Algorithm
Author :
Bandopadhya, Dibakar ; Bhattacharya, B.
Author_Institution :
Dept. of Mech. Engg, IIT, Kanpur
fYear :
2006
fDate :
1-3 June 2006
Firstpage :
1
Lastpage :
6
Abstract :
In this paper an effort has been made to actively attenuate the vibration of a single link planar flexible manipulator with rotary joints using a combination of ferro-magnetic alloys/polyethylene-polyethylene glycol and terfenol-D as smart nano-composite. Such materials can be used as intelligent distributed layers over the link to introduce distributed control of vibration. The method utilizes the property that under a control voltage/magnetic flux, the smart materials bonded to the flexible structure deforms and generates a bending strain through end moments that opposes the structural deformation. Proportional damping scheme is used to model the damping of passive layers. Together with the active material this arrangement has shown high efficiency to reduce the vibration. However, to identify the elastic displacements as generalized coordinates estimation of states related to an optimal performance is required. This is carried out by discretization of the elastic motion through the assumed mode technique and applying Kalman filter for state estimation
Keywords :
Kalman filters; damping; distributed control; flexible manipulators; state estimation; vibration control; Kalman filter; active proportional damping; bending strain; elastic motion discretization; end moment; ferro-magnetic alloys; flexible manipulator; intelligent distributed layers; magnetic flux control; performance evaluation; polyethylene-polyethylene glycol; smart nano-composite; state estimation; terfenol-D; vibration distributed control; voltage control voltage; Damping; Distributed control; Iron alloys; Magnetic materials; Magnetic properties; Manipulator dynamics; State estimation; Strain control; Vibration control; Voltage control; Flexible manipulator; Kalman Filter; Smart Composite;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
Type :
conf
DOI :
10.1109/RAMECH.2006.252639
Filename :
4018755
Link To Document :
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