Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm

Yuan Yun; Yangmin Li

doi:10.1109/IROS.2009.5354539

Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

17 Citations (Scopus)

Abstract

In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level especially for the very low frequency under 10Hz vibration signals. In this paper, based on the previous research experiences in the systematical modeling and study of parallel robots, a hybrid robot is described and the vibration model is given by using Lagrange's Equations. Then the present study addresses the issues related to the active vibration control schemes for the MIMO system using LQR algorithm. Finally, numerical simulations on the effect of active vibration control are presented.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	775-780
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354539
Publication status	Published - 11 Dec 2009
Externally published	Yes
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 11 Oct 2009 → 15 Oct 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	11/10/09 → 15/10/09

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

More information

10.1109/IROS.2009.5354539

Cite this

@inproceedings{c5f0df6f34e04e20bea6829acb68d7da,

title = "Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm",

abstract = "In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level especially for the very low frequency under 10Hz vibration signals. In this paper, based on the previous research experiences in the systematical modeling and study of parallel robots, a hybrid robot is described and the vibration model is given by using Lagrange's Equations. Then the present study addresses the issues related to the active vibration control schemes for the MIMO system using LQR algorithm. Finally, numerical simulations on the effect of active vibration control are presented.",

author = "Yuan Yun and Yangmin Li",

year = "2009",

month = dec,

day = "11",

doi = "10.1109/IROS.2009.5354539",

language = "English",

isbn = "9781424438044",

pages = "775--780",

booktitle = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009",

note = "2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 11-10-2009 Through 15-10-2009",

}

Yun, Y & Li, Y 2009, Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354539, pp. 775-780, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 11/10/09. https://doi.org/10.1109/IROS.2009.5354539

Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm. / Yun, Yuan; Li, Yangmin.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 775-780 5354539.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm

AU - Yun, Yuan

AU - Li, Yangmin

PY - 2009/12/11

Y1 - 2009/12/11

N2 - In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level especially for the very low frequency under 10Hz vibration signals. In this paper, based on the previous research experiences in the systematical modeling and study of parallel robots, a hybrid robot is described and the vibration model is given by using Lagrange's Equations. Then the present study addresses the issues related to the active vibration control schemes for the MIMO system using LQR algorithm. Finally, numerical simulations on the effect of active vibration control are presented.

AB - In recent years, many applications in precision engineering require a careful isolation of the instrument from the vibration sources by adopting active vibration isolation system to achieve a very low remaining vibration level especially for the very low frequency under 10Hz vibration signals. In this paper, based on the previous research experiences in the systematical modeling and study of parallel robots, a hybrid robot is described and the vibration model is given by using Lagrange's Equations. Then the present study addresses the issues related to the active vibration control schemes for the MIMO system using LQR algorithm. Finally, numerical simulations on the effect of active vibration control are presented.

UR - http://www.scopus.com/inward/record.url?scp=76249116791&partnerID=8YFLogxK

U2 - 10.1109/IROS.2009.5354539

DO - 10.1109/IROS.2009.5354539

M3 - Conference article published in proceeding or book

SN - 9781424438044

SP - 775

EP - 780

BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Y2 - 11 October 2009 through 15 October 2009

ER -

Active vibration control based on a 3-DOF dual compliant parallel robot using LQR algorithm

Abstract

Conference

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this