In order to develop an efficient and fast position control for robotic manipulators, vibration phenomena have to be taken into account. Vibrations are mainly caused by the flexibility of manipulator linkages, especially when dealing with high-speed and lightweight robots. In this paper, a constrained model-based predictive control is employed for controlling both position and vibrations in a mechanism with high link flexibility. This kind of controller has so far been used mainly to control slow processes, but here simulation results that show its effectiveness in dealing with high-speed and nonlinear processes are presented. The mechanism chosen to evaluate the performances is a four-link closed chain mechanism laying on the horizontal plane and driven by a single torque-controlled electric motor.
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e-mail: paolo.boscariol@uniud.it
e-mail: gasparetto@uniud.it
e-mail: vanni.zanotto@uniud.it
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January 2010
Technical Briefs
Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control
Paolo Boscariol,
Paolo Boscariol
Department of Electrical, Managerial, and Mechanical Engineering,
e-mail: paolo.boscariol@uniud.it
University of Udine
, Via delle Scienze 208, 33100 Udine, Italy
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Alessandro Gasparetto,
Alessandro Gasparetto
Department of Electrical, Managerial, and Mechanical Engineering,
e-mail: gasparetto@uniud.it
University of Udine
, Via delle Scienze 208, 33100 Udine, Italy
Search for other works by this author on:
Vanni Zanotto
Vanni Zanotto
Department of Electrical, Managerial, and Mechanical Engineering,
e-mail: vanni.zanotto@uniud.it
University of Udine
, Via delle Scienze 208, 33100 Udine, Italy
Search for other works by this author on:
Paolo Boscariol
Department of Electrical, Managerial, and Mechanical Engineering,
University of Udine
, Via delle Scienze 208, 33100 Udine, Italye-mail: paolo.boscariol@uniud.it
Alessandro Gasparetto
Department of Electrical, Managerial, and Mechanical Engineering,
University of Udine
, Via delle Scienze 208, 33100 Udine, Italye-mail: gasparetto@uniud.it
Vanni Zanotto
Department of Electrical, Managerial, and Mechanical Engineering,
University of Udine
, Via delle Scienze 208, 33100 Udine, Italye-mail: vanni.zanotto@uniud.it
J. Dyn. Sys., Meas., Control. Jan 2010, 132(1): 014506 (4 pages)
Published Online: December 22, 2009
Article history
Received:
September 17, 2008
Revised:
September 18, 2009
Online:
December 22, 2009
Published:
December 22, 2009
Citation
Boscariol, P., Gasparetto, A., and Zanotto, V. (December 22, 2009). "Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control." ASME. J. Dyn. Sys., Meas., Control. January 2010; 132(1): 014506. https://doi.org/10.1115/1.4000658
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