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- W3127958310 abstract "In many applications, the use of slender and light flexible structures has increased due to the requirement of more energetically efficient structures. This kind of structures is easily prone to vibrate due to external forces or due to forces generated in the inner structure during the movement. One objective of this work is to generate models of flexible-link structures: cantilever beam, one flexible-link robot and two flexible-link robot; which include rotational actuators, piezoelectric actuators, and different kinds of sensors (acceleration and deformation). The models are obtained under a classical mechanics approach of Lagrange Euler energy balance; the assumed mode method is used to approximate the flexibility of the elastic components. In the model formulation, new rotation angles are introduced in the distal joints and the joint inertia is separated according to this new kinematic consideration. Some parts of the resulting model involving integral terms are calculated using symbolic programming software; whereas other parts are implemented and calculated dynamically during simulation. The resulting models are programmed in Matlab/Simulink subjected to a novel verification methodology and then validated experimentally in a platform constructed for the implementation. The second objective is to develop, from simplified models of the flexible-link structures, robust controllers for joint tracking and active vibration suppression. Therefore, robust control is used with two basic purposes: to face the model uncertainties due to the discrepancies between the models and real systems and to suppress the vibration of the flexible-link structures. Three control strategies are proposed: Dual loop control approach, decentralized and centralized Lyapunov model-based sliding mode control approach. The values required for the implementation of the controller are obtained from the formulated models. The controllers were implemented in a dSPACE rapid prototyping control card and the experimental results show the effectiveness of the proposed control strategies in terms of joint tracking and vibration suppression.%%%%In viele Anwendungen, die Nutzung von schlanken und leichten Strukturen ist wegen Energieanforderungen gestiegen. Solche Strukturen sind anfallig fur Schwingung wegen ausere Krafte oder innere erzeugen Krafte wahrend der Bewegung. Ein Ziel dieser Arbeit handelt sich um die Erzeugung von verschiedener flexiblen-Glied Strukturen z.B. Kragarm, ein und zwei flexibel-Glied Roboter. Die Strukturen enthalten: rotatotische Aktoren, piezoelektrische Aktoren und verschiedene Sensoren (Beschleunigung und Dehnung). Die Modelle werden im Rahmen klassisches Ansatz von Lagrange Euler Energiebilanz entwickelt; die Angenommene Mode Methode (Assumed Mode Method) wird verwendet, um die Flexibilitat der elastischen Komponenten zu approximieren. In der Modellformulierung werden neue Rotationswinkel in die distalen Gelenke eingefuhrt und die gemeinsame Tragheit gemas dieser neuen kinematischen Betrachtung getrennt. Einige Elemente des…" @default.
- W3127958310 created "2021-02-15" @default.
- W3127958310 creator A5042517833 @default.
- W3127958310 creator A5081425083 @default.
- W3127958310 date "2016-01-01" @default.
- W3127958310 modified "2023-09-23" @default.
- W3127958310 title "Modeling and sliding-mode control of flexible-link robotic structures for vibration suppression" @default.
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- W3127958310 doi "https://doi.org/10.21268/20161117-110732" @default.
- W3127958310 hasPublicationYear "2016" @default.
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