Experimental Verification of Discrete Switching Vibration Suppression

Control system design for flexible robotic systems requires special care with regard to the control system design to prevent oscillation in the system's resonant modes. If the resonant frequencies of such a system are known, it is possible to determine a switching command that delivers comparable actuation without exciting these natural modes of vibration. If there is redundancy in actuation, it can be exploited to suppress vibration with a reduced amount of actuator changes in state. Minimum switching discrete switching vibration suppression (MSDSVS) involves choosing a switching function with integer amplitudes and continuously variable switch timings to force the root of the residual oscillation function with respect to frequency to be at a resonance. By minimizing the one norm of the vector of amplitudes, we obtain several desired properties. Such a vibration suppression command is developed for a flexible robotic actuator, and experimental results are presented. The proposed command reduces residual oscillation by 73% (rms) and 74% (largest Fourier component) and represents a 37% energy savings over vibration suppression commands that do not exploit the redundancy in actuation.

[1]  Warren P. Seering,et al.  Preshaping Command Inputs to Reduce System Vibration , 1990 .

[2]  Vicente Feliu,et al.  Concurrent Design of Multimode Input Shapers and Link Dynamics for Flexible Manipulators , 2010, IEEE/ASME Transactions on Mechatronics.

[3]  Guangjun Liu,et al.  On Development of a Rotary–Linear Actuator Using Piezoelectric Translators , 2006, IEEE/ASME Transactions on Mechatronics.

[4]  H. Harry Asada,et al.  Piezoelectric Cellular Actuators Using Nested Rhombus Multilayer Mechanisms , 2008 .

[5]  J. Fiene,et al.  Toward switching motor control , 2006, IEEE/ASME Transactions on Mechatronics.

[6]  H. Harry Asada,et al.  A variable stiffness PZT cellular actuator with tunable resonance for cyclic motion tasks , 2009, 2009 IEEE International Conference on Robotics and Automation.

[7]  A. De Luca,et al.  Rest-to-rest motion of a two-link robot with a flexible forearm , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[8]  Kazuya Yoshida,et al.  Reaction null-space control of flexible structure mounted manipulator systems , 1999, IEEE Trans. Robotics Autom..

[10]  Michael Goldfarb,et al.  A Control Design Method for Switching Systems With Application to Pneumatic Servo Systems , 2002 .

[11]  William Singhose,et al.  Experimental Verification of Real-Time Control for Flexible Systems With On-Off Actuators , 2006 .

[12]  Seung-Bok Choi,et al.  Sliding mode control of vibration in a single-link flexible arm with parameter variations , 1995 .

[13]  Hwee Choo Liaw,et al.  Neural Network Motion Tracking Control of Piezo-Actuated Flexure-Based Mechanisms for Micro-/Nanomanipulation , 2009, IEEE/ASME Transactions on Mechatronics.

[14]  D. Soloway.  CONTROLLED MOTION IN AN ELASTIC WORLD , 2022 .

[15]  G. Alefeld,et al.  Introduction to Interval Computation , 1983 .

[16]  Jun Ueda,et al.  Discrete switching vibration suppression for flexible systems with redundant actuation , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[17]  Jonathan P. How,et al.  Input Shaping Design for Multi-Input Flexible Systems , 1999 .

[18]  N. Chaillet,et al.  Mechanical and Control-Oriented Design of a Monolithic Piezoelectric Microgripper Using a New Topological Optimization Method , 2009, IEEE/ASME Transactions on Mechatronics.

[19]  Gangbing Song,et al.  Spacecraft Vibration Reduction Using Pulse-Width Pulse-Frequency Modulated Input Shaper* , 1997 .

[20]  Kenji Uchino,et al.  Piezoelectric Actuators and Ultrasonic Motors , 1996 .

[21]  Warren P. Seering,et al.  Residual Vibration Reduction Using Vector Diagrams to Generate Shaped Inputs , 1994 .

[22]  Warren P. Seering,et al.  Closed-Form Methods for Generating On-Off Commands for Undamped Flexible Spacecraft , 1999 .

[23]  Philip Rabinowitz,et al.  Numerical methods for nonlinear algebraic equations , 1970 .

[24]  Dun Liu,et al.  Design for robust component synthesis vibration suppression of flexible structures with on-off actuators , 2004, IEEE Transactions on Robotics and Automation.

[25]  Lucy Y. Pao.  Input Shaping Design for Flexible Systems with Multiple Actuators , 1996 .

[26]  A. Dogan,et al.  FLEXTENSIONAL "MOONIE" ACTUATORS , 1993 .

[27]  H H Asada,et al.  Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture With Exponential Strain Amplification Mechanisms , 2010, IEEE/ASME Transactions on Mechatronics.