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Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression

Published online by Cambridge University Press:  19 April 2011

P. Boscariol  and
V. Zanotto
P. Boscariol
Affiliation:
Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica Università di Udine, Via delle Scienze 208, 33100 Udine, Italy
V. Zanotto*
Affiliation:
Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica Università di Udine, Via delle Scienze 208, 33100 Udine, Italy
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, a numerical investigation of the Model Predictive Control strategy applied to flexible-link mechanisms is presented. The mechanisms used for all the tests are a planar five-link mechanisms. The tests are aimed at showing how the proposed control system can be used for the trajectory tracking and the vibration suppression. An analysis of the effects of the choice of tuning parameters is presented as well. The design of the predictive controller is based on a linearized version of an accurate nonlinear dynamic model. The effectiveness of the proposed approach is confirmed by extensive numerical results.

Keywords

VibrationRoboticsFlexible linkTrajectoryDynamicsMechatronic systemsControl of robotic systems
Type
Articles
Information
Robotica , Volume 30 , Issue 1 , January 2012 , pp. 15 - 29
Copyright
Copyright © Cambridge University Press 2011

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