1836 KB26 KB199920252014Conker, CaglarKapucu, SadettinKilic, AliMistikoglu, SelcukYavuz, Hakanletnik:60številka:9str. 592-599, SI 106ISSN:0039-2480COBISSID:13699867URN:URN:NBN:SI:doc-F1WEVBXWenZveza strojnih inženirjev in tehnikov Slovenije et al.Strojniški vestnikmanipulator s fleksibilnim zgibomoblikovanje ukazovoblikovanje vhodapreostale vibracijeAn enhanced control technique for the elimination of residual vibrations in flexible-joint manipulators|One method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parametersKrmiljenje gibanj je ena glavnih raziskovalnih tem na področju robotike in avtomatizacije. Visoka hitrost in natančno krmiljenje gibanj sta nujna za visokoproduktivno in visokokakovostno proizvodnjo. Zaradi visokih hitrosti in z njimi povezanih preostalih vibracij pa je obenem tudi težko zagotoviti natančno krmiljenje gibanj. Iskanje ravnotežja med hitrostjo gibanj ter odpravljanjem ali vsaj zmanjšanjem preostalih vibracij je zato pomemben del raziskav krmiljenja gibanj in s tem povezanih praktičnih aplikacijTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo