An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators

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Izvoz citacije: ABNT
CONKER, Çağlar ;KILIC, Ali ;MISTIKOGLU, Selcuk ;KAPUCU, Sadettin ;YAVUZ, Hakan .
An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 60, n.9, p. 592-599, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/an-enhanced-control-technique-for-the-elimination-of-residual-vibrations-in-flexible-joint-manipulators/>. Date accessed: 06 dec. 2022. 
doi:http://dx.doi.org/10.5545/sv-jme.2014.1698.
Conker, ., Kilic, A., Mistikoglu, S., Kapucu, S., & Yavuz, H.
(2014).
An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators.
Strojniški vestnik - Journal of Mechanical Engineering, 60(9), 592-599.
doi:http://dx.doi.org/10.5545/sv-jme.2014.1698
@article{sv-jmesv-jme.2014.1698,
	author = {Çağlar  Conker and Ali  Kilic and Selcuk  Mistikoglu and Sadettin  Kapucu and Hakan  Yavuz},
	title = {An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {60},
	number = {9},
	year = {2014},
	keywords = {residual vibration, input shaping, flexible mechanical system, robust input shaping},
	abstract = {One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.},
	issn = {0039-2480},	pages = {592-599},	doi = {10.5545/sv-jme.2014.1698},
	url = {https://www.sv-jme.eu/sl/article/an-enhanced-control-technique-for-the-elimination-of-residual-vibrations-in-flexible-joint-manipulators/}
}
Conker, .,Kilic, A.,Mistikoglu, S.,Kapucu, S.,Yavuz, H.
2014 June 60. An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 60:9
%A Conker, Çağlar 
%A Kilic, Ali 
%A Mistikoglu, Selcuk 
%A Kapucu, Sadettin 
%A Yavuz, Hakan 
%D 2014
%T An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators
%B 2014
%9 residual vibration, input shaping, flexible mechanical system, robust input shaping
%! An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators
%K residual vibration, input shaping, flexible mechanical system, robust input shaping
%X One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.
%U https://www.sv-jme.eu/sl/article/an-enhanced-control-technique-for-the-elimination-of-residual-vibrations-in-flexible-joint-manipulators/
%0 Journal Article
%R 10.5545/sv-jme.2014.1698
%& 592
%P 8
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 60
%N 9
%@ 0039-2480
%8 2018-06-28
%7 2018-06-28
Conker, Çağlar, Ali  Kilic, Selcuk  Mistikoglu, Sadettin  Kapucu, & Hakan  Yavuz.
"An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators." Strojniški vestnik - Journal of Mechanical Engineering [Online], 60.9 (2014): 592-599. Web.  06 Dec. 2022
TY  - JOUR
AU  - Conker, Çağlar 
AU  - Kilic, Ali 
AU  - Mistikoglu, Selcuk 
AU  - Kapucu, Sadettin 
AU  - Yavuz, Hakan 
PY  - 2014
TI  - An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2014.1698
KW  - residual vibration, input shaping, flexible mechanical system, robust input shaping
N2  - One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.
UR  - https://www.sv-jme.eu/sl/article/an-enhanced-control-technique-for-the-elimination-of-residual-vibrations-in-flexible-joint-manipulators/
@article{{sv-jme}{sv-jme.2014.1698},
	author = {Conker, ., Kilic, A., Mistikoglu, S., Kapucu, S., Yavuz, H.},
	title = {An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {60},
	number = {9},
	year = {2014},
	doi = {10.5545/sv-jme.2014.1698},
	url = {https://www.sv-jme.eu/sl/article/an-enhanced-control-technique-for-the-elimination-of-residual-vibrations-in-flexible-joint-manipulators/}
}
TY  - JOUR
AU  - Conker, Çağlar 
AU  - Kilic, Ali 
AU  - Mistikoglu, Selcuk 
AU  - Kapucu, Sadettin 
AU  - Yavuz, Hakan 
PY  - 2018/06/28
TI  - An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 60, No 9 (2014): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2014.1698
KW  - residual vibration, input shaping, flexible mechanical system, robust input shaping
N2  - One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.
UR  - https://www.sv-jme.eu/sl/article/an-enhanced-control-technique-for-the-elimination-of-residual-vibrations-in-flexible-joint-manipulators/
Conker, Çağlar, Kilic, Ali, Mistikoglu, Selcuk, Kapucu, Sadettin, AND Yavuz, Hakan.
"An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 60 Number 9 (28 June 2018)

Avtorji

Inštitucije

  • Mustafa Kemal University, Faculty of Engineering, Dept. of Mechanical Engineering, Iskenderun, Turkey 1
  • Gaziantep University, Faculty of Engineering, Dept. of Mechanical Engineering, Gaziantep, Turkey 2
  • Cukurova University, Faculty of Engineering, Dept. of Mechanical Engineering, Adana, Turkey 3

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 60(2014)9, 592-599
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.

https://doi.org/10.5545/sv-jme.2014.1698

One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.

residual vibration, input shaping, flexible mechanical system, robust input shaping