Vibration control of coupled Duffing oscillators in flexible single-link manipulators

Huang, J; Ji, J

Vibration control of coupled Duffing oscillators in flexible single-link manipulators

Huang, J Ji, J

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Publisher:: SAGE PUBLICATIONS LTD
Publication Type:: Journal Article
Citation:: JVC/Journal of Vibration and Control, 2020
Issue Date:: 2020-01-01

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Field	Value	Language
dc.contributor.author	Huang, J
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.date.accessioned	2021-02-01T05:28:34Z
dc.date.available	2021-02-01T05:28:34Z
dc.date.issued	2020-01-01
dc.identifier.citation	JVC/Journal of Vibration and Control, 2020
dc.identifier.issn	1077-5463
dc.identifier.issn	1741-2986
dc.identifier.uri	http://hdl.handle.net/10453/145690
dc.description.abstract	© The Author(s) 2020. Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.
dc.language	English
dc.publisher	SAGE PUBLICATIONS LTD
dc.relation.ispartof	JVC/Journal of Vibration and Control
dc.relation.isbasedon	10.1177/1077546320952598
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Acoustics
dc.title	Vibration control of coupled Duffing oscillators in flexible single-link manipulators
dc.type	Journal Article
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
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
pubs.organisational-group	/University of Technology Sydney
utslib.copyright.status	closed_access	*
dc.date.updated	2021-02-01T05:28:30Z
pubs.publication-status	Published

Abstract:

© The Author(s) 2020. Motion-induced oscillations of the flexible single link and its payload at the tip have negative impact on the anticipated performance of the flexible manipulators and thus should be suppressed to achieve tip positioning accuracy and high-speed operation. Because of the structural flexibility, the dynamics of the flexible manipulator can be described by coupled Duffing oscillators when considering the inherent structural nonlinearity of the flexible link into the dynamic modeling. However, little research has been focused on addressing the dynamic coupling issue in the nonlinear modeling of flexible-link manipulators using coupled Duffing oscillators. This article presents coupled Duffing oscillators for the nonlinear modeling of flexible single-link manipulators and then proposes a control method for suppressing the nonlinear vibrations of the coupled Duffing oscillators. Simulated and experimental results obtained from a flexible single-link manipulator test bench are in good agreement with the proposed nonlinear modeling and also demonstrate the effectiveness of the proposed control techniques for vibration suppression of the flexible manipulator.

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http://hdl.handle.net/10453/145690