Control of flexible single-link manipulators having Duffing oscillator dynamics

Chen, B; Huang, J; Ji, JC

Control of flexible single-link manipulators having Duffing oscillator dynamics

Chen, B Huang, J Ji, JC

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Publication Type:: Journal Article
Citation:: Mechanical Systems and Signal Processing, 2019, 121 pp. 44 - 57
Issue Date:: 2019-04-15

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Field	Value	Language
dc.contributor.author	Chen, B	en_US
dc.contributor.author	Huang, J	en_US
dc.contributor.author	Ji, JC https://orcid.org/0000-0003-3280-5463	en_US
dc.date.issued	2019-04-15	en_US
dc.identifier.citation	Mechanical Systems and Signal Processing, 2019, 121 pp. 44 - 57	en_US
dc.identifier.issn	0888-3270	en_US
dc.identifier.uri	http://hdl.handle.net/10453/135019
dc.description.abstract	© 2018 Elsevier Ltd Unwanted vibrations caused by the commanded motions lower the positioning accuracy and degrade the control performance of flexible link manipulators. Much work has been devoted to the dynamics and control of flexible link manipulators. However, there are few studies dedicated to the flexible link manipulators having Duffing oscillator dynamics. This paper develops a new model for a flexible single-link manipulator by assuming large mechanical impedance in the drives or large inertia of the motor hub and by considering the flexibility of the single-link manipulator. The derived model includes an infinite number of uncoupled Duffing oscillators by ignoring the modal coupling effects. Two new methods are presented for controlling the vibrations of the flexible manipulator governed by Duffing oscillators. One is designed for the single-mode Duffing oscillator, and the other is for the multi-mode Duffing oscillators. A comparison of these two methods is made using the results of numerical simulations and experimental measurements. Experimental investigations are also performed on a flexible single-link manipulator to validate the dynamic behavior of Duffing oscillators and the effectiveness of the new control methods.	en_US
dc.relation.ispartof	Mechanical Systems and Signal Processing	en_US
dc.relation.isbasedon	10.1016/j.ymssp.2018.11.014	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Acoustics	en_US
dc.title	Control of flexible single-link manipulators having Duffing oscillator dynamics	en_US
dc.type	Journal Article
utslib.citation.volume	121	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0905 Civil Engineering	en_US
utslib.for	0915 Interdisciplinary Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US
pubs.volume	121	en_US

Abstract:

© 2018 Elsevier Ltd Unwanted vibrations caused by the commanded motions lower the positioning accuracy and degrade the control performance of flexible link manipulators. Much work has been devoted to the dynamics and control of flexible link manipulators. However, there are few studies dedicated to the flexible link manipulators having Duffing oscillator dynamics. This paper develops a new model for a flexible single-link manipulator by assuming large mechanical impedance in the drives or large inertia of the motor hub and by considering the flexibility of the single-link manipulator. The derived model includes an infinite number of uncoupled Duffing oscillators by ignoring the modal coupling effects. Two new methods are presented for controlling the vibrations of the flexible manipulator governed by Duffing oscillators. One is designed for the single-mode Duffing oscillator, and the other is for the multi-mode Duffing oscillators. A comparison of these two methods is made using the results of numerical simulations and experimental measurements. Experimental investigations are also performed on a flexible single-link manipulator to validate the dynamic behavior of Duffing oscillators and the effectiveness of the new control methods.

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http://hdl.handle.net/10453/135019