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

Yuan Yun, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

14 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 languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages775-780
Number of pages6
DOIs
Publication statusPublished - 11 Dec 2009
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 11 Oct 200915 Oct 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period11/10/0915/10/09

ASJC Scopus subject areas

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

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