NDLI: A Reduced-Order Observer Based Piezoelectric Control of Flexible Cartesian (SCARA) Robot Manipulator

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Liu, Zeyu Jalili, Nader Dadfarnia, Mohsen Darren, M. Dawson
Copyright Year	2002
Abstract	An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on the top surface of the flexible arm to apply a controlled moment for vibration suppression requirement. Utilizing three measurable quantities (i.e., the base displacement, arm tip deflection and the strain at the root end of the arm), a reduced-order observer is designed to estimate the velocity related variables, which are not measurable. A simple PD controller is selected for the moving base regulation control, while a Lyapunov function candidate based on a very simple energy relationship is utilized for the PZT input voltage to make the closed-loop system energy dissipative and hence stable. In this paper, the PZT input voltage control uses the velocity related signals estimated by the reduced-order observer, which makes the control structure simpler. The feasibility of the controller is validated by the numerical simulations and experimental results.
Sponsorship	Dynamic Systems and Control Division
Starting Page	395
Ending Page	401
Page Count	7
File Format	PDF
ISBN	0791836290
DOI	10.1115/IMECE2002-33544
Volume Number	Dynamic Systems and Control
Conference Proceedings	ASME 2002 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2002-11-17
Publisher Place	New Orleans, Louisiana, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Computer simulation Deflection Control equipment Manipulators Vibration suppression Signals Cantilever beams Closed loop systems Displacement Robots
Content Type	Text
Resource Type	Article

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