A modified integral resonant control scheme for vibration suppression of parallel kinematic mechanisms with flexible links

A new modified integral resonant control (IRC) scheme is demonstrated herein for vibration suppression of the flexible links of parallel kinematic mechanisms (PKMs). Typically, the resonance frequencies and response amplitudes of the PKM links experience configuration–dependent variation within the workspace. To address these variations, a robust quantitative feedback theory (QFT) approach is utilised herein on a cantilever beam, with a variable tip mass as a proof of concept. The proposed IRC scheme is synthesised with the plant templates within the QFT environment to compare its: 1) robust stability; 2) vibration attenuation with the existing IRC schemes. It is shown that the proposed IRC scheme exhibits improved robustness, while it can maintain its vibration attenuation capability. The proposed IRC is subsequently implemented on a PKM flexible link. The simplicity of the proposed control system makes it a practical approach for vibration suppression of the PKM links, accommodating substantial configuration–dependent behaviour.

[1]  Mehrdad Moallem,et al.  Multimode Control of a Large-Scale Robotic Manipulator , 2007, IEEE Transactions on Robotics.

[2]  P. S. V. Nataraj,et al.  Control of parallel flexible five bar manipulator using QFT , 2009, 2009 IEEE International Conference on Industrial Technology.

[3]  I. Horowitz,et al.  Synthesis of feedback systems with large plant ignorance for prescribed time-domain tolerances† , 1972 .

[4]  S. O. Reza Moheimani,et al.  Integral resonant control of collocated smart structures , 2007 .

[5]  Seung-Bok Choi.  Vibration control of a smart beam structure subjected to actuator uncertainty: Experimental verification , 2006 .

[6]  Peter Eberhard,et al.  An adaptronic approach to active vibration control of machine tools with parallel kinematics , 2009, Prod. Eng..

[7]  S. S. Aphale,et al.  High-bandwidth control of a piezoelectric nanopositioning stage in the presence of plant uncertainties , 2008, Nanotechnology.

[8]  Meng-Shiun Tsai,et al.  Robust control of novel pendulum-type vibration isolation system , 2011 .

[9]  N. Jalili.  Piezoelectric-Based Vibration Control: From Macro to Micro/Nano Scale Systems , 2009 .

[10]  Steven J. Rasmussen,et al.  Quantitative feedback theory: fundamentals and applications: C. H. Houpis and S. J. Rasmussen; Marcel Dekker, New York, 1999, ISBN: 0-8247-7872-3 , 2001, Autom..

[11]  William L. Cleghorn,et al.  Experimental Implementation on Vibration Mode Control of a Moving 3-PRR Flexible Parallel Manipulator with Multiple PZT Transducers , 2010 .

[12]  Vicente Feliu,et al.  Integral Resonant Control for Vibration Damping and Precise Tip-Positioning of a Single-Link Flexible Manipulator , 2011, IEEE/ASME Transactions on Mechatronics.

[13]  S. O. Reza Moheimani,et al.  A Negative Imaginary Approach to Modeling and Control of a Collocated Structure , 2012, IEEE/ASME Transactions on Mechatronics.

[14]  Suhada Jayasuriya,et al.  QFT Based Robust Control of a Single-Link Flexible Manipulator , 2007 .

[15]  Hans Peter Monner,et al.  Smart-Structures Technology for Parallel Robots , 2011, J. Intell. Robotic Syst..

[16]  James K. Mills,et al.  Dynamic Modeling and Experimental Validation of a 3-PRR Parallel Manipulator with Flexible Intermediate Links , 2007, J. Intell. Robotic Syst..

[17]  Shuxiang Guo,et al.  Experimental Identification and Active Control of Configuration Dependent Linkage Vibration in a Planar Parallel Robot , 2009, IEEE Transactions on Control Systems Technology.

[18]  Seung-bok Choi,et al.  Quantitative feedback theory control of a single-link flexible manipulator featuring piezoelectric actuator and sensor , 1999 .

[19]  Tong Heng Lee,et al.  Integral resonant control for suppression of resonance in piezoelectric micro-actuator used in precision servomechanism , 2013 .

[20]  A. Preumont.  Vibration Control of Active Structures , 1997 .

[21]  Beno Benhabib,et al.  Comparative analysis of a new 3×PPRS parallel kinematic mechanism , 2014 .

[22]  Saeid Bashash,et al.  Modeling and experimental vibration analysis of nanomechanical cantilever active probes , 2008 .

[23]  Peter Eberhard,et al.  Active Vibration Control for a Machine Tool With Parallel Kinematics and Adaptronic Actuator , 2009 .

[24]  S. O. R. Moheimani,et al.  TECHNICAL NOTE: Analog implementation of an integral resonant control scheme , 2008 .

[25]  Sung Hoon Ha,et al.  Accurate position control of a flexible arm using a piezoactuator associated with a hysteresis compensator , 2013 .

[26]  Andrew J. Fleming,et al.  Resonance-shifting integral resonant control scheme for increasing the positioning bandwidth of nanopositioners , 2013, 2013 European Control Conference (ECC).

[27]  Rajnikant V. Patel,et al.  Multi-directional stabilization of a large-scale robotic manipulator , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[28]  James K. Mills,et al.  Vibration control of elastodynamic response of a 3-PRR flexible parallel manipulator using PZT transducers , 2008, Robotica.