In this paper an optimization method originally devised for structural modification is extended towards the design of filters to be used in the feedback chain of an actively controlled flexible structure, such as a light-weight robotic arm. The aim of the feedback control is to minimize structural vibrations at the end-effector. Only one actuator (a DC motor at one end of the arm) is used, while a number of acceleration transducers are placed at some positions on the arm. The method requires the previous knowledge of the open-loop frequency response function of the structural system, which has to be derived either numerically or experimentally.
Active control of flexible structures as an extension of structural modification concepts
D'AMBROGIO, WALTER;
1991-01-01
Abstract
In this paper an optimization method originally devised for structural modification is extended towards the design of filters to be used in the feedback chain of an actively controlled flexible structure, such as a light-weight robotic arm. The aim of the feedback control is to minimize structural vibrations at the end-effector. Only one actuator (a DC motor at one end of the arm) is used, while a number of acceleration transducers are placed at some positions on the arm. The method requires the previous knowledge of the open-loop frequency response function of the structural system, which has to be derived either numerically or experimentally.Pubblicazioni consigliate
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