Abstract
Unwanted vibrations caused by the commanded motions degrade positioning accuracy and safety in flexible link manipulators. There are an infinite number of vibration modes in a single-link flexible manipulator. The contribution of the first mode is fundamental, but the high modes might also have some impacts on the overall system dynamics. A continuous function is designed to control the vibrations of the total modes by smoothing the driving commands. Comparison between the new continuous function and input shaper, which is a series of impulses, is also explored and evaluated. Numerous simulations and experiments for a wide range of working conditions and modeling errors are performed to validate the effectiveness of the new continuous function.
| Original language | English |
|---|---|
| Pages (from-to) | 436-446 |
| Number of pages | 11 |
| Journal | Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering |
| Volume | 231 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 1 Jul 2017 |
Keywords
- Flexible link manipulators
- high-mode dynamics
- modal analysis
- robustness
- vibration control