Speaker
Jing Wu
(Institute of Plasma Physics Chinese Academy of Sciences)
Description
EAMA (EAST Articulated Maintenance Arm) is an articulated serial robot arm working in experimental advanced superconductor tokamak for inspection and maintenance. Redundant flexible structure of EAMA increases reach capability, however, it reduces accuracy and speed due to the compliance introduced into each joint. This deteriorates EAMA into oscillation and produces undesirable disturbance. In this paper a nonlinear model predictive controller with acceleration feedback is designed for active vibration damping. The flexible joints dynamic model of EAMA is established. The proposed cost function, constraints and estimated prediction horizon guarantee closed-loop stability. The control method reduces the oscillation amplitude efficiently by minimizing kinetic energy loss. The experimental result shows that EAMA obtained closed-loop performance is improved when compared to a PD controller.
Co-authors
Huapeng Wu
(Lappeenranta University of Technology, Skinnarilankatu 34 53850 Lappeenranta, Finland)
Jing Wu
(Institute of Plasma Physics Chinese Academy of Sciences, Hefei, China;Lappeenranta University of Technology, Skinnarilankatu 34 53850 Lappeenranta, Finland)
Ming Li
(Lappeenranta University of Technology, Skinnarilankatu 34 53850 Lappeenranta, Finland)
Tao Zhang
(Institute of Plasma Physics Chinese Academy of Sciences, Hefei, China)
Yuntao Song
(Institute of Plasma Physics Chinese Academy of Sciences, Hefei, China)
