Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links
This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elasti...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2018/9016028 |
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| _version_ | 1832549882785693696 |
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| author | Roberto Caracciolo Dario Richiedei Alberto Trevisani |
| author_facet | Roberto Caracciolo Dario Richiedei Alberto Trevisani |
| author_sort | Roberto Caracciolo |
| collection | DOAJ |
| description | This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elastic motion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by applying the DRC to the real-time control of a four-bar linkage. |
| format | Article |
| id | doaj-art-bcf32e101fa142639dd787e7809c3381 |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-bcf32e101fa142639dd787e7809c33812025-02-03T06:08:23ZengWileyShock and Vibration1070-96221875-92032018-01-01201810.1155/2018/90160289016028Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible LinksRoberto Caracciolo0Dario Richiedei1Alberto Trevisani2Dipartimento di Tecnica e Gestione dei Sistemi Industriali (DTG), Università degli Studi di Padova, Padova, ItalyDipartimento di Tecnica e Gestione dei Sistemi Industriali (DTG), Università degli Studi di Padova, Padova, ItalyDipartimento di Tecnica e Gestione dei Sistemi Industriali (DTG), Università degli Studi di Padova, Padova, ItalyThis paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elastic motion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by applying the DRC to the real-time control of a four-bar linkage.http://dx.doi.org/10.1155/2018/9016028 |
| spellingShingle | Roberto Caracciolo Dario Richiedei Alberto Trevisani Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links Shock and Vibration |
| title | Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links |
| title_full | Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links |
| title_fullStr | Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links |
| title_full_unstemmed | Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links |
| title_short | Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links |
| title_sort | deformation control in rest to rest motion of mechanisms with flexible links |
| url | http://dx.doi.org/10.1155/2018/9016028 |
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