Active vibration control of an axially translating robot arm with rotating-prismatic joint using self-sensing actuator is investigated.\nThe equations of the system are derived by Lagrange�s equation with the assumed mode method. The displacement and velocity\ncontrol law is used to configure the self-sensing actuator, which provides the active damping and stiffness effect to the structure.The\nnumerical simulations reveal that the tip deflection of the arm can be effectively reduced by the self-sensing actuator.The amplitude\nof sensor voltage is inversely proportional to the length of axially translating arm. And higher feedback control gain results in lower\nsensor voltages and vibration amplitudes.
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