Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members

[+] Author and Article Information
Seung-Bok Choi

Department of Mechanical Engineering, Inha University, Incheon 402-751, Korea

B. S. Thompson, M. V. Gandhi

Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824

J. Mech. Des 117(4), 640-643 (Dec 01, 1995) (4 pages) doi:10.1115/1.2826733 History: Received April 01, 1994; Revised February 01, 1995; Online December 11, 2007


This technical brief addresses the dynamic modeling and control methodology to suppress structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded piezoelectric actuators and sensors. The dynamic modeling is accomplished by developing a finite element formulation. The governing equation of motion is then modified by condensing the electric potential vectors, and subsequently two different feedback controllers are established: a constantgain feedback controller and a constant-amplitude feedback controller. Computer simulations are undertaken in order to demonstrate the superior performance characteristics, such as smaller deflections at the end-effector, to be accrued from the proposed methodology.

Copyright © 1995 by The American Society of Mechanical Engineers
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