Active vibration control of an equipment mounting link for an exploration robot

Williams, D.; Khodaparast, Hamed Haddad; Jiffri, Shakir

doi:10.1016/j.apm.2021.02.016

Journal article 1052 views 208 downloads

Active vibration control of an equipment mounting link for an exploration robot

D. Williams, Hamed Haddad Khodaparast

, Shakir Jiffri

Applied Mathematical Modelling, Volume: 95, Pages: 524 - 540

Swansea University Authors: Hamed Haddad Khodaparast , Shakir Jiffri

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DOI (Published version): 10.1016/j.apm.2021.02.016

Abstract

This research seeks a practical, reliable and effective solution to the problem of nuisance vibrations experienced within robot systems. This research suggests a potential application of a thin, lightweight camera mounting arm on a robot manipulator for use during search and rescue missions and expl...

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Published in:	Applied Mathematical Modelling
ISSN:	0307-904X
Published:	Elsevier BV 2021
Online Access:	Check full text
URI:	https://cronfa.swan.ac.uk/Record/cronfa56330
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first_indexed	2021-02-26T10:10:42Z
last_indexed	2023-01-11T14:35:29Z
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This research suggests a potential application of a thin, lightweight camera mounting arm on a robot manipulator for use during search and rescue missions and exploration. Envisioning the robot arm mounted upon a drone or a rover vehicle, the control system will need to be both small and lightweight. The environment for such an application is likely to be dangerous, and as such the chosen components should be inexpensive and easily maintainable. Thus, components were selected whilst considering these constraints. The utilisation of piezoelectric sensors and actuators has been driven by their desirable electro-mechanical properties and their almost negligible influence on the functionality of a system. However, their inclusion within the control system, which applies control proportionally to the sensors, produced an interesting response from the closed loop system. This work builds upon previous research through the observation and understanding of this response, which proves to be more akin to proportional-derivative control. The electro-mechanically coupled analytical model of the link and surface mounted sensors/actuators, that is developed in this paper using Euler-Bernoulli Beam theory, provides insight into this unconventional response. This analytical model of the link structure in addition to a kinematic model of the robot are validated through their representation of experimental results. A comparison of the designed controlled system with a purpose-built alternative has been conducted to observe the performance of the former justifying the exchange of processing capacity for lower mass and cost. Through this comparison the effect of the control system parameters on the proportional-derivative response of the closed loop system is further explored. 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spelling	2022-10-31T18:42:13.1990380 v2 56330 2021-02-26 Active vibration control of an equipment mounting link for an exploration robot f207b17edda9c4c3ea074cbb7555efc1 0000-0002-3721-4980 Hamed Haddad Khodaparast Hamed Haddad Khodaparast true false 1d7a7d2a8f10ec98afed15a4b4b791c4 0000-0002-5570-5783 Shakir Jiffri Shakir Jiffri true false 2021-02-26 AERO This research seeks a practical, reliable and effective solution to the problem of nuisance vibrations experienced within robot systems. This research suggests a potential application of a thin, lightweight camera mounting arm on a robot manipulator for use during search and rescue missions and exploration. Envisioning the robot arm mounted upon a drone or a rover vehicle, the control system will need to be both small and lightweight. The environment for such an application is likely to be dangerous, and as such the chosen components should be inexpensive and easily maintainable. Thus, components were selected whilst considering these constraints. The utilisation of piezoelectric sensors and actuators has been driven by their desirable electro-mechanical properties and their almost negligible influence on the functionality of a system. However, their inclusion within the control system, which applies control proportionally to the sensors, produced an interesting response from the closed loop system. This work builds upon previous research through the observation and understanding of this response, which proves to be more akin to proportional-derivative control. The electro-mechanically coupled analytical model of the link and surface mounted sensors/actuators, that is developed in this paper using Euler-Bernoulli Beam theory, provides insight into this unconventional response. This analytical model of the link structure in addition to a kinematic model of the robot are validated through their representation of experimental results. A comparison of the designed controlled system with a purpose-built alternative has been conducted to observe the performance of the former justifying the exchange of processing capacity for lower mass and cost. Through this comparison the effect of the control system parameters on the proportional-derivative response of the closed loop system is further explored. Finally, the effectiveness of the designed control system is observed when the link is mounted upon the manipulator for an array of excitation types. Journal Article Applied Mathematical Modelling 95 524 540 Elsevier BV 0307-904X Active vibration control, Euler-Bernoulli, PZT sensors, PZT actuators, Raspberry Pirobot manipulator, robot link 1 7 2021 2021-07-01 10.1016/j.apm.2021.02.016 COLLEGE NANME Aerospace Engineering COLLEGE CODE AERO Swansea University 2022-10-31T18:42:13.1990380 2021-02-26T10:08:13.9258579 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Aerospace Engineering D. Williams 1 Hamed Haddad Khodaparast 0000-0002-3721-4980 2 Shakir Jiffri 0000-0002-5570-5783 3 56330__19378__d3776a93796149acaa231a28bbec043a.pdf 56330.pdf 2021-02-26T10:10:10.7893522 Output 2480475 application/pdf Accepted Manuscript true 2022-02-23T00:00:00.0000000 ©2021 All rights reserved. All article content, except where otherwise noted, is licensed under a Creative Commons Attribution Non-Commercial No Derivatives License (CC-BY-NC-ND) true eng http://creativecommons.org/licenses/by-nc-nd/4.0/
title	Active vibration control of an equipment mounting link for an exploration robot
spellingShingle	Active vibration control of an equipment mounting link for an exploration robot Hamed Haddad Khodaparast Shakir Jiffri
title_short	Active vibration control of an equipment mounting link for an exploration robot
title_full	Active vibration control of an equipment mounting link for an exploration robot
title_fullStr	Active vibration control of an equipment mounting link for an exploration robot
title_full_unstemmed	Active vibration control of an equipment mounting link for an exploration robot
title_sort	Active vibration control of an equipment mounting link for an exploration robot
author_id_str_mv	f207b17edda9c4c3ea074cbb7555efc1 1d7a7d2a8f10ec98afed15a4b4b791c4
author_id_fullname_str_mv	f207b17edda9c4c3ea074cbb7555efc1_*_Hamed Haddad Khodaparast 1d7a7d2a8f10ec98afed15a4b4b791c4_*_Shakir Jiffri
author	Hamed Haddad Khodaparast Shakir Jiffri
author2	D. Williams Hamed Haddad Khodaparast Shakir Jiffri
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container_title	Applied Mathematical Modelling
container_volume	95
container_start_page	524
publishDate	2021
institution	Swansea University
issn	0307-904X
doi_str_mv	10.1016/j.apm.2021.02.016
publisher	Elsevier BV
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description	This research seeks a practical, reliable and effective solution to the problem of nuisance vibrations experienced within robot systems. This research suggests a potential application of a thin, lightweight camera mounting arm on a robot manipulator for use during search and rescue missions and exploration. Envisioning the robot arm mounted upon a drone or a rover vehicle, the control system will need to be both small and lightweight. The environment for such an application is likely to be dangerous, and as such the chosen components should be inexpensive and easily maintainable. Thus, components were selected whilst considering these constraints. The utilisation of piezoelectric sensors and actuators has been driven by their desirable electro-mechanical properties and their almost negligible influence on the functionality of a system. However, their inclusion within the control system, which applies control proportionally to the sensors, produced an interesting response from the closed loop system. This work builds upon previous research through the observation and understanding of this response, which proves to be more akin to proportional-derivative control. The electro-mechanically coupled analytical model of the link and surface mounted sensors/actuators, that is developed in this paper using Euler-Bernoulli Beam theory, provides insight into this unconventional response. This analytical model of the link structure in addition to a kinematic model of the robot are validated through their representation of experimental results. A comparison of the designed controlled system with a purpose-built alternative has been conducted to observe the performance of the former justifying the exchange of processing capacity for lower mass and cost. Through this comparison the effect of the control system parameters on the proportional-derivative response of the closed loop system is further explored. Finally, the effectiveness of the designed control system is observed when the link is mounted upon the manipulator for an array of excitation types.
published_date	2021-07-01T04:11:12Z
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score	11.037275

Active vibration control of an equipment mounting link for an exploration robot

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