Gerardo Silva-Navarro

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This work describes the modeling and control of an experimental platform associated to a single link flexible robot, whose motion is restricted to an horizontal plane, thus neglecting the gravity effects. The modeling problem is addressed using the so-called Euler-Bernoulli beam equation. The design, construction and integration of an experimental setup(More)
In this work a LQR scheme for vibration control in a rotor system is presented. The rotor system has two disks in an asymmetrical configuration along the shaft and its model is obtained by applying finite element techniques. A reduced order model of seven degrees of freedom is experimentally validated for the synthesis of active LQR control laws, using both(More)
In the present work, the modeling of a rigid-flexible two link robot via the Euler-Lagrange formalism, is outlined. The flexible-link is considered to be an Euler-Bernoulli beam with a mass attached at its free end simulating a payload. Two control schemes which are known to yield acceptable results for single flexible-link robots are extended and applied(More)
This paper describes the problem of design of an experimental setup for rotordynamic analysis and unbalance control. The rotor system has two disks in an asymmetrical configuration along a steel shaft which is connected to a three phase AC motor by a flexible coupling. A suspension with two linear electromechanical actuators is used to control actively the(More)
This paper is about mechanical vibration absorption in a cantilever beam. This is accomplished by an active control scheme. The experimental set up consists of an aluminum cantilever beam clamped to an electrodynamical shaker. In that the main actuator is a piezoelectric patch and the feedback signal is obtained with a small piezoelectric accelerometer. For(More)
The design, construction, integration, control and experimental tests for a two-finger robot hand driven by pneumatic muscles is presented. Each finger has four degrees of freedom (DOF) and is actuated with eight muscles working in antagonism (16 muscles in total). For control purposes discrete-time PID controllers are synthesized to control the angular(More)
In this article an active vibration absorption scheme for linear mass-spring-damper mechanical systems subject to exogenous multi-frequency harmonic excitations is presented. The proposed scheme considers an active vibration absorber as a dynamic controller, which can simultaneously be used for vibration attenuation and desired position reference trajectory(More)
This paper deals with the design and synthesis of a cantilever-beam passive/active autoparametric vibration absorber, with a small PZT patch actuator, used on a primary damped Duffing system. The primary systemconsists of amass, viscous damping and cubic stiffness spring, over which is mounted a cantilever beam with a PZT patch actuator actively controlled(More)
The model of a single flexible-link robot arm with a payload attached to its tip is represented in a cascade-like fashion using a proper coordinate transformation of the system state. The new system representation makes possible to find a way to assign a convenient dynamics for the overall system to control its tip position by using the joint shaft angular(More)
This work deals with the problem of modelling and analysis in rotordynamics as well as the active control of vibrations caused by unbalance in a rotor system. The system model was obtained by Finite Element Method taking into account the gyroscopic effects. The finite element model is used to get the Campbell diagram, the critical speeds, the modal shapes(More)