Delayed reference control applied to flexible link mechanisms / Giovanni Boschetti in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 134 N° 1 (Janvier 2012)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) Titre : Delayed reference control applied to flexible link mechanisms : a scheme for effective and stable control Type de document : texte imprimé Auteurs : Giovanni Boschetti, Auteur ; Dario Richiedei, Auteur ; Alberto Trevisani, Auteur Année de publication : 2012 Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Couplings Delays Flexible structures Manipulators Motion control Shock absorbers Stability Vibration Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This paper extends the use of delayed reference controllers to the simultaneous motion and vibration control of flexible link mechanisms. Vibration damping is achieved by introducing an “equivalent damping force” into the system through the computation of a suitable delayed time. The delayed time, which is based on the measured vibrations, is then employed in the trajectory planner to set the reference input. The stability of the controller is discussed and its effectiveness is proved by applying it to a four-bar planar linkage with flexible links. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001 [...] [article] Delayed reference control applied to flexible link mechanisms : a scheme for effective and stable control [texte imprimé] / Giovanni Boschetti, Auteur ; Dario Richiedei, Auteur ; Alberto Trevisani, Auteur . - 2012. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 134 N° 1 (Janvier 2012) Mots-clés : Couplings Delays Flexible structures Manipulators Motion control Shock absorbers Stability Vibration Index. décimale : 553 Géologie économique. Minérographie. Minéraux. Formation et gisements de minerais Résumé : This paper extends the use of delayed reference controllers to the simultaneous motion and vibration control of flexible link mechanisms. Vibration damping is achieved by introducing an “equivalent damping force” into the system through the computation of a suitable delayed time. The delayed time, which is based on the measured vibrations, is then employed in the trajectory planner to set the reference input. The stability of the controller is discussed and its effectiveness is proved by applying it to a four-bar planar linkage with flexible links. DEWEY : 553 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000134000001 [...]

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