Habib, Giuseppe and Bártfai, András and Barrios, Asier and Dombóvári, Zoltán (2022) Bistability and delayed acceleration feedback control analytical study of collocated and non-collocated cases. NONLINEAR DYNAMICS, 108 (3). pp. 2075-2096. ISSN 0924-090X
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Abstract
Stability and bifurcation analysis of a non-rigid robotic arm controlled with a time-delayed acceleration feedback loop is addressed in this work. The study aims at revealing the dynamical mechanisms leading to the appearance of limit cycle oscillations existing in the stable region of the trivial solution of the system, which is related to the combined dynamics of the robot control and its structural nonlinearities. An analytical study of the bifurcations occurring at the loss of stability illustrates that, in general, hardening structural nonlinearities at the joint promote a subcritical character of the bifurcations. Consequently, limit cycle oscillations are generated within the stable region of the trivial solution. A nonlinear control force is then developed to enforce the supercriticality of the bifurcations. Results illustrate that this strategy enables to partially eliminate limit cycle oscillations coexisting with the stable trivial solution. The mechanical system is analysed in a collocated and a non-collocated configuration, depending on the position of the sensor.
| Item Type: | Article |
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| Additional Information: | Funding Agency and Grant Number: Budapest University of Technology and Economics; Posicionamiento estrategico en modelos virtuales y gemelos digitales para una industria 4.0 [CER-20191001]; InterQ European project [H2020-958357]; Hungarian National Science Foundation [OTKA 134496]; National Research, Development and Innovation Fund (TKP2020 NC) under the Ministry for Innovation and Technology [BME-NCS, TKP2021, BME-NVA-02] Funding text: Open access funding provided by Budapest University of Technology and Economics. This research work was done under the framework of the project MIRAGED: Posicionamiento estrategico en modelos virtuales y gemelos digitales para una industria 4.0 (CER-20191001). This research was supported by the InterQ European project (H2020-958357). GHacknowledges the financial support of the Hungarian National Science Foundation under grant number OTKA 134496. The research reported in this paper was supported by the National Research, Development and Innovation Fund (TKP2020 NC, Grant No. BME-NCS and TKP2021, Project no. BME-NVA-02) under the auspices of the Ministry for Innovation and Technology. |
| Uncontrolled Keywords: | SYSTEM; STABILITY; BISTABILITY; Industrial robots; Vibration control; Engineering, Mechanical; active vibration control; Bifurcation control; Acceleration feedback; Delayed control; CARTESIAN IMPEDANCE CONTROLLER; FLEXIBLE-JOINT ROBOTS; |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 09 Nov 2022 09:01 |
| Last Modified: | 09 Nov 2022 09:01 |
| URI: | http://real.mtak.hu/id/eprint/153098 |
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