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Proceedings Paper

Two degree-of-freedom parallel mechanisms for high bandwidth vibration suppression and tracking
Author(s): Dustin J. Carruthers; John F. O'Brien
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Paper Abstract

Limited degree-of-freedom (DOF) parallel kinematic mechanisms (PKM) are capable of high bandwidth tracking and disturbance rejection with smaller actuators than are required for serial machines. A high performance Nyquist-stable (NS) controller with nonlinear dynamic compensation (NDC) applied to a new PKM is presented. The Popov criterion is used to show absolute stability (AS) of the closed loop system and experimental evidence of closed loop performance is provided. This novel approach to PKM control provides 38 dB of disturbance rejection below 10 Hz, an order of magnitude more that what is achieved by implementing an absolutely stable fixed gain (ASFG) controller.

Paper Details

Date Published: 27 April 2011
PDF: 11 pages
Proc. SPIE 7977, Active and Passive Smart Structures and Integrated Systems 2011, 797708 (27 April 2011); doi: 10.1117/12.880064
Show Author Affiliations
Dustin J. Carruthers, Univ. of Wyoming (United States)
John F. O'Brien, Univ. of Wyoming (United States)

Published in SPIE Proceedings Vol. 7977:
Active and Passive Smart Structures and Integrated Systems 2011
Mehrdad N. Ghasemi-Nejhad, Editor(s)

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