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Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

2021; Multidisciplinary Digital Publishing Institute; Volume: 11; Issue: 21 Linguagem: Inglês

10.3390/app11219907

2076-3417

José Mário Araújo, Jason Bettega, Nelson J. B. Dantas, Carlos E.T. Dórea, Dario Richiedei, Iacopo Tamellin,

Iterative Learning Control Systems

This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application.