The objective of this paper is to provide an experimental proof of the effectiveness and ease of implementation of a non-time based control strategy for the simultaneous active vibration control and path tracking of multi-degree-of-freedom linear systems. What is peculiar in the proposed scheme, named DRC, is that it allows reducing elastic vibrations while guaranteeing coordinated motion among the system rigid-body degrees of freedom, and hence the accurate tracking of desired paths through space. The DRC is here applied to damp the oscillation of a load suspended to the moving platform of an Adept Quattro parallel robot by means of a cable.
DELAYED REFERENCE CONTROL FOR MULTI-DEGREE-OF-FREEDOM ELASTIC SYSTEMS: THEORY AND EXPERIMENTATION
BOSCHETTI, GIOVANNI;RICHIEDEI, DARIO;TREVISANI, ALBERTO
2011
Abstract
The objective of this paper is to provide an experimental proof of the effectiveness and ease of implementation of a non-time based control strategy for the simultaneous active vibration control and path tracking of multi-degree-of-freedom linear systems. What is peculiar in the proposed scheme, named DRC, is that it allows reducing elastic vibrations while guaranteeing coordinated motion among the system rigid-body degrees of freedom, and hence the accurate tracking of desired paths through space. The DRC is here applied to damp the oscillation of a load suspended to the moving platform of an Adept Quattro parallel robot by means of a cable.Pubblicazioni consigliate
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