Session: MSNDC-08/MR-05-01: Motion Planning, Dynamics, and Control of Robots

Paper Number: 116434

116434 - A Closed-Form Command Shaping Control of a Rotating Flexible Beam With Nonzero Initial Conditions 

Flexible rotating beams exhibit many advantages over their rigid counterparts: they require less material, are lighter in weight, have higher manipulation speed, lower power consumption, require smaller actuators, are more maneuverable and transportable, are safer to operate due to reduced inertia, have less overall cost and higher payload to robot weight ratio. However, the control of flexible beams to maintain accurate positioning in rest-to-rest maneuvers is challenging. Due to the flexible nature and distributed characteristics of the system, the dynamics are highly non-linear and complex. Problems arise due to precise positioning requirements, system flexibility leading to vibration, the difficulty in obtaining an accurate model of the system, and non-minimum phase characteristics of the system

 

A single-mode command shaping control is suggested to eliminate the rest-to-rest residual vibrations of a rotating flexible beam with nonzero initial conditions. The nonlinear equation of motion of a rotating flexible beam is derived, discretized, and finally linearized. To eliminate the residual vibrations, the solution of the linear system, with the suggested shaper as an input, is used to determine the shaper parameters analytically. To show the shaper performance, two numerical simulations with different initial conditions are shown. The results of these simulations showed the ability of the proposed shaper to totally eliminate the first-mode residual vibrations of a flexible rotating beam with nonzero initial conditions.

Presenting Author: Khaled Alhazza Kuwait University

Presenting Author Biography: Khaled Alhazza is a Professor in Mechanical Engineering Department at Kuwait University. Before joining Kuwait University, professor Alhazza was a researcher at Kuwait Institute of Scientific Research (KISR). He holds a Ph.D. in Mechanical Engineering from Virginia Tech, Blacksburg, Virginia, USA, and an M.Sc. in Mechanical Engineering from Rensselaer Polytechnic Institute (RPI), Troy, New York, USA. Between 2006 and 2007, he continued his research on Delayed Feedback Control at the Center for Intelligent Material Systems and Structures (CIMSS) at Virginia Tech. His main interests are dynamics, structural dynamics, linear and nonlinear control, and nonlinear oscillations.

Authors:

Khaled Alhazza Kuwait University
Mohammed Alfares Kuwait University
Abdulaziz Alawadhi Kuwait University