To reduce the vibration of motor (link) in any robot arm, which method of nonlinear control is better? and if we use the conventional-nonlinear control, how we can solve the uncertainty???
The vibration issue can be due to the layout of the control arm, it could be he stiffness of the structure or, otherwise, the transfer ratio between machine and component. Are you using stepper motors? These are notorious for inducing pulses into your mechanism. Rather use servo type machines with negative feedback.
Certainty is a function of how well you measure. If you do decent position control, the you will have little or no uncertainty of where your actuator is. One can probably find many control algorithms which will do the trick, but your specific setup will most certainly have a topology that will will best, or adequate for your purposes.
Have fun and let us know how it went !
Dear sir,
Greetings.
Wish you Happy Merry Christmas and Happy New year.
To control the vibrations, you can use the piezoelectric effect to reduce the vibrations.
Plenty of literature is available for the same.
Piezo sensors will reduce the vibration effect.
I hope this helps you.
Best regards
Dr.Indrajit Mandal. Ph.D.
The vibration issue can be due to the layout of the control arm, it could be he stiffness of the structure or, otherwise, the transfer ratio between machine and component. Are you using stepper motors? These are notorious for inducing pulses into your mechanism. Rather use servo type machines with negative feedback.
Certainty is a function of how well you measure. If you do decent position control, the you will have little or no uncertainty of where your actuator is. One can probably find many control algorithms which will do the trick, but your specific setup will most certainly have a topology that will will best, or adequate for your purposes.
Have fun and let us know how it went !
I used trapezoid control and Cubic polinominal control. You can hear different noise apply before and after.
Conventional nonlinear controlles could not cope with uncertainies of robot dynamics, you should use adaptive methods
Dear Dr Piltan
Happy to hear you are trying to solve a significant problem in robot arms, unwanted vibration...
My research group at Shiraz University of Technology have already solved this problem using Active Force Control Method which is a very fast disturbance rejection technique in robots. I can suggest this method for suppressinf the unwanted vibration in robot arms....
Best regards
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