Notes on vibration control of a micro/macromanipulator mounted on a flexible structure
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Data
2012-01-01
Autores
Grandinetti, Francisco José [UNESP]
Soares, A. M. de S. [UNESP]
Lamas, W. de Q. [UNESP]
Goes, L. C. S.
Título da Revista
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Editor
Sage Publications Ltd
Resumo
The objective of this study is to describe the design and the implementation of an experimental set-up used to study the dynamics, the experimental identification, and the active vibration control of a flexible structure mounted manipulator system. The system consists of a three-degree-of-freedom cylindrical manipulator system with a flexible link on its tip. A two-degree-of-freedom polar rigid manipulator is mounted on the flexible macromanipulator. The dynamic modelling and experimental modal analysis identification in the frequency domain are being applied to design active digital control strategies for the micro-manipulator system to damp the mechanical vibrations of the flexible structure on the tip of the macro-manipulator system.
Descrição
Palavras-chave
flexible structure, micro/macromanipulator, modelling, robotics
Como citar
Proceedings of The Institution of Mechanical Engineers Part K-Journal of Multi-body Dynamics. London: Sage Publications Ltd, v. 226, n. K1, p. 72-82, 2012.