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Active vibration control in a macro-manipulator using strengthened piezoelectric actuators

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3 Author(s)
Kermani, M.R. ; University of Western Ontario ; Patel, R.V. ; Moallem, M.

In this paper the application of high control authority piezostack actuators (PSA) for active vibration control in flexible manipulators is studied. The idea is to incorporate the piezostack actuators into the system in order to strengthen its stiffness characteristics. In this regard a cantilever beam actuated with piezostack actuators is considered. A mechanism for converting the blocking force of the PSA to a bending moment is studied and a model for the whole system consisting of a flexible beam and B A is obtained. The simulation results show that the suggested method may open new possibilities in active vibration control of large flexible manipulator.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

April 26 2004-May 1 2004