Acceleration Sensor Based Vibration Control for Flexible Robot by Using PPF Algorithm

摘要

Acceleration sensor based identification and active vibration control strategy was presented to suppress the unwanted vibration for flexible joint and flexible link robot. The experimental setup of flexible manipulator was designed and built to verify the proposed acceleration sensor control approach. Control scheme consists of one AC servomotor actuator used to drive the flexible link through harmonic gear speed reduction, and a piezoelectric acceleration sensor fixed at some point of the link used as sensor. The presented control scheme is acceleration feedback combining with low-pass filter, lead regulation and positive position feedback control method. Experimental investigations were carried out including acceleration sensor based modal identification and active vibration control for set-point position and slewing motion. The experimental results demonstrate that the vibrations of the system due to environmental stimulation or caused by the motor torque during the hub slewing motion are significantly suppressed, thus the presented control method is effective.