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Title: Sliding DFT-based vibration mode estimator for single-link flexible manipulator
Authors: Shitole C.
Sumathi, Parasuraman
Published in: IEEE/ASME Transactions on Mechatronics
Abstract: An estimation method based on sliding discrete Fourier transform (SDFT) integrated with phase-locked loop is introduced for vibration mode estimation of single-link flexible manipulator (SLFM). Based on Euler-Lagrangian state space model and first vibration mode frequency, SDFT PLL is designed to estimate first vibration mode and harmonics that appear in tip deflection. Instantaneous change in tip deflection due to payload conditions is tracked by adaptive sampling frequency control. State-space model, estimated amplitudes and frequencies of tip deflection including harmonics are validated through experiments. Furthermore, experimental investigation on SLFM demonstrates the effectiveness of online vibration mode estimation method in presence of noise and offset. © 1996-2012 IEEE.
Citation: IEEE/ASME Transactions on Mechatronics (2015), 20(6): 3249-3256
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Keywords: Phase-locked loop (PLL)
single-link flexible manipulator (SLFM)
sliding discrete Fourier transform
vibration mode estimation
ISSN: 10834435
Author Scopus IDs: 56524623600
Author Affiliations: Shitole, C., Department of Electrical Engineering, Indian Institute of Technology, Roorkee, 247667, India
Sumathi, P., Department of Electrical Engineering, Indian Institute of Technology, Roorkee, 247667, India
Corresponding Author: Shitole, C.; Department of Electrical Engineering, Indian Institute of TechnologyIndia; email:
Appears in Collections:Journal Publications [EE]

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