Active Vibration Control of a Flexible Robotic Manipulator
Notice bibliographique
Résumé
A five-degree-of-freedom (5-DOF) robot manipulator for agricultural applications was developed by previous members of the robotic lab at University of Saskatchewan. The manipulator was designed to be installed on a mobile base vehicle for monitoring targeted crops in a farm field using sensors installed on its tip. The crop monitoring is called phenotyping. When the manipulator mobile base moves along the field, vibration is induced from the farm terrain to the base of manipulator. Thus, the sensors mounted at the end-effector (EE) of the manipulator may not record data accurately. To address this issue, vibration suppression of the manipulator is necessary. The objectives of this research were: 1. Evaluation of vibration experienced by the 5-DOF manipulator’s tip; and 2. Study active vibration control to remedy vibration experienced by the manipulator; also, some efforts were done for possible implementation of active vibration control on the manipulator in a laboratory setting. Free and forced vibration simulation studies were conducted to evaluate the amplitude of vibration transmitted to the EE from the base of the manipulator. To eliminate excitation coming from the manipulator’s base, an active vibration suppression method using a model-based controller was used. To obtain a mathematical model for the manipulator, finite element analysis was utilized using commercial software and was verified manually. This method was applied to three different cases: 1- a cantilever beam, 2- a two-link, two-joint manipulator (2L2JM), and 3- the 5-DOF manipulator. For active vibration control, model reduction was applied to a state-space model of systems via a matched-DC algorithm. The LQR (linear-quadratic regulator) was used for the cantilever beam vibration control. For the 2L2JM and the 5-DOF manipulator, a H∞ controller was used. This was an optimal and robust controller based on the H∞ norm. Based on vibration evaluation, it was found that an active vibration suppression was necessary for the 5-DOF manipulator. Mathematical models of several systems were developed and verified using finite element analysis. The controllers suppressed random vibration that were applied to the base of the 5-DOF manipulator. For the closed-loop control system of the manipulator, a look-up table was created for the actuators. Through this study, the vibration of the 5-DOF manipulator was analyzed. Then, mathematical models of different geometries as well as the 5-DOF manipulator were obtained. Then these models were compared with the software models. The model reduction approach made the large finite element models reduce to systems with a small order. Using models and control strategies, simulation studies were conducted for the vibration suppression of the manipulator.
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Comment cette classification a été obtenuedéplier
Prédiction distillée sur la base complète
Imitation des enseignantsNi prévalence calibrée, ni vérité terrain. Validation humaine à venir. Apprise à partir de 10 348 étiquettes directes de Codex et de 10 348 étiquettes directes de Gemma. Le mode candidate est l'union des têtes enseignantes seuillées; le consensus est leur intersection. Ces sorties portent le statut machine_predicted_unvalidated et ne sont ni des étiquettes humaines ni des étiquettes directes de modèles de pointe.
Scores Codex et Gemma par catégorie
| Catégorie | Codex | Gemma |
|---|---|---|
| Métarecherche | 0,000 | 0,000 |
| Méta-épidémiologie (sens strict) | 0,000 | 0,000 |
| Méta-épidémiologie (sens large) | 0,001 | 0,000 |
| Bibliométrie | 0,000 | 0,001 |
| Études des sciences et des technologies | 0,000 | 0,000 |
| Communication savante | 0,000 | 0,001 |
| Science ouverte | 0,000 | 0,000 |
| Intégrité de la recherche | 0,000 | 0,000 |
| Charge utile insuffisante (le modèle a refusé de juger) | 0,004 | 0,000 |
Scores machine (provisoires)
Les deux têtes enseignantes du modèle étudiant, lues sur ce travail. Un score ordonne la base pour la relecture; il n'affirme jamais une catégorie, et le statut de validation accompagne chaque rangée tel quel.
Scores de référence d'un modèle non mature (critères de maturité non atteints, 7 itérations). Un score ordonne; il n'affirme jamais une catégorie.
score_only:v0-immature-baseline · tel quel depuis la passe de notation : score_only signifie que le nombre peut ordonner les travaux, et qu'aucune étiquette de catégorie n'en découleClassification
machine, non validéePrédiction automatique; un appel candidat d’une seule tête enseignante, pas un consensus.
Le détail, modèle par modèle et score par score, se trouve en fin de page sous « Comment cette classification a été obtenue ».