Data for: Modified Reduced-Order State-Space Realization of a Flexible Robot-Manipulator and Model-Associative Vibration Control Implementation

Published: 3 April 2020| Version 3 | DOI: 10.17632/s9h7yw4rvm.3
Contributors:
Mehmet Mert Δ°LMAN,
Şahin Yavuz

Description

There is a detailed Readme.pdf in the files for the informations about the dataset. The main purpose is providing a dataset for the vibration behavior of a robot manipulator system under the control input of model-associative vibration control (MAVC) prodecure. Velocity profile is shown as [βˆ—,π‘‘π‘π‘œπ‘›,𝑑𝑑𝑒𝑐,π‘‘π‘š] in study. In the case studies for both simulations and experiments, the parameters are varied as follows; π‘‘π‘π‘œπ‘› can be valued as 0, 𝑑1β„Ž or 2𝑑1β„Ž, 𝑑𝑑𝑒𝑐 can be valued as 𝑑1β„Ž,2𝑑1β„Ž,3𝑑1β„Ž,4𝑑1β„Ž or 5𝑑1β„Ž and π‘‘π‘š can be valued as 1 or 1.5 seconds for corresponded 90 or 135 angular displacements. Thus thirty different velocity profiles are produced with aim to performed on system. Cases are invastigated with and without performing the MAVC procedure. Than the robot manipulator is examined for both unloaded and loaded cases, therefore total one hundred twenty cases are occured. More details can be found in related study.

Files

Steps to reproduce

The data is sampled at 617 Hz. Each experiment is conducted for 20 sec. The low pass filter with the cut-off frequency level at the twice of fundamental frequeny is sugested.

Institutions

Manisa Celal Bayar Universitesi, Dokuz Eylul Universitesi Muhendislik Fakultesi

Categories

Robotics, Mechanical Vibration, Vibration Control, Dynamics of Flexible Mechanism

License