This research seeks a practical, reliable and effective solution to the problem of nuisance vibrations experienced within robot systems. This research suggests a potential application of a thin, lightweight camera mounting arm on a robot manipulator for use during search and rescue missions and exploration. Envisioning the robot arm mounted upon a drone or a rover vehicle, the control system will need to be both small and lightweight. The environment for such an application is likely to be dangerous, and as such the chosen components should be inexpensive and easily maintainable. Thus, components were selected whilst considering these constraints. The utilisation of piezoelectric sensors and actuators has been driven by their desirable electro-mechanical properties and their almost negligible influence on the functionality of a system. However, their inclusion within the control system, which applies control proportionally to the sensors, produced an interesting response from the closed loop system. This work builds upon previous research through the observation and understanding of this response, which proves to be more akin to proportional-derivative control. The electro-mechanically coupled analytical model of the link and surface mounted sensors/actuators, that is developed in this paper using Euler-Bernoulli Beam theory, provides insight into this unconventional response. This analytical model of the link structure in addition to a kinematic model of the robot are validated through their representation of experimental results. A comparison of the designed controlled system with a purpose-built alternative has been conducted to observe the performance of the former justifying the exchange of processing capacity for lower mass and cost. Through this comparison the effect of the control system parameters on the proportional-derivative response of the closed loop system is further explored. Finally, the effectiveness of the designed control system is observed when the link is mounted upon the manipulator for an array of excitation types.

这项研究寻求一种实用，可靠和有效的解决方案，以解决机器人系统中遇到的讨厌的振动问题。这项研究表明，轻薄的摄像头安装臂在机器人操纵器上的潜在应用可能用于搜索和救援任务以及探索。设想将机器人手臂安装在无人驾驶飞机或漫游车上，控制系统将需要既小又轻。这样的应用环境可能很危险，因此所选的组件应该便宜且易于维护。因此，在考虑这些约束的同时选择组件。压电传感器和执行器的使用受到其理想的机电性能及其对系统功能的影响几乎可以忽略不计的驱动。然而，它们包含在控制系统中，该控制系统按比例将控制应用于传感器，因此闭环系统产生了令人感兴趣的响应。这项工作是在先前的研究基础上，通过对这种反应的观察和理解来实现的，事实证明，这种反应更类似于比例微分控制。本文使用Euler-Bernoulli Beam理论开发的链节和表面安装的传感器/执行器的机电耦合分析模型，为这种非常规响应提供了见识。通过机器人的运动学模型，可以验证链接结构的这种分析模型以及机器人的运动学模型。已对设计的受控系统与专用替代系统进行了比较，以观察前者的性能，从而证明了以较低的质量和成本交换处理能力的合理性。通过这种比较，可以进一步研究控制系统参数对闭环系统比例微分响应的影响。最后，当将连杆安装在用于一系列激励类型的操纵器上时，可以观察到设计的控制系统的有效性。