Hybrid vibration control of an industrial CFRP composite robot-manipulator system based on reduced order model

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dc.contributor.authorİlman M.M.
dc.contributor.authorYavuz Ş.
dc.contributor.authorKaragülle H.
dc.contributor.authorUysal A.
dc.date.accessioned2024-07-22T08:04:48Z
dc.date.available2024-07-22T08:04:48Z
dc.date.issued2022
dc.description.abstractThis paper introduces a novel hybrid vibration control of an industrial flexible link manipulator (FLM) with carbon-fiber reinforced polymer (CFRP) composite material. The hybrid controller consists of a closed-loop direct strain feedback controller (DSFC) and a new open-loop input shaper (OLIS), and its performance is examined and compared by numerical simulation and experiment. Vibration attenuation is also verified by a spare sensor, an accelerometer. Thanks to the design of an analog isolator circuit, data acquisition of the real-time experiments are carried out noise-free from the servo driver. Reduced-order-model (ROM) is generated for the composite link with three different loading conditions and model for servo system is derived via system identification. Impulse force test hammer (IFTH) equipment is used to excite the system with force input and the results of the experiments/simulations confirm that the controller is robust against the impulse disturbances. As a result, a decrease of 88 ± 6.9 percent in vibration amplitudes and a decrease of 90 ± 7 percent in vibration duration confirms that the proposed controller is effective for vibration control of the flexible arm even under disturbance. Controller performance also enabled the FLM to work with payloads 16 times of its own weight. © 2021 Elsevier B.V.
dc.identifier.DOI-ID10.1016/j.simpat.2021.102456
dc.identifier.issn1569190X
dc.identifier.urihttp://akademikarsiv.cbu.edu.tr:4000/handle/123456789/12853
dc.language.isoEnglish
dc.publisherElsevier B.V.
dc.subjectCarbon fiber reinforced plastics
dc.subjectControllers
dc.subjectData acquisition
dc.subjectIndustrial manipulators
dc.subjectRobot applications
dc.subjectRobotic arms
dc.subjectVibration control
dc.subjectCarbon fiber reinforced polymer composite
dc.subjectClosed-loop
dc.subjectFlexible-link manipulators
dc.subjectHybrid controller
dc.subjectHybrid controls
dc.subjectPolymer composites materials
dc.subjectReduced order modelling
dc.subjectReduced-order model
dc.subjectRobot manipulator systems
dc.subjectVibration
dc.subjectFlexible manipulators
dc.titleHybrid vibration control of an industrial CFRP composite robot-manipulator system based on reduced order model
dc.typeArticle

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