Input shaping with collocated PD for vibration control of a flexible joint manipulator

2009 ◽  
Author(s):  
M.A. Ahmad ◽  
M.S. Ramli ◽  
R.M.T. Raja Ismail ◽  
A.N.K. Nasir ◽  
M.A. Zawawi
Keyword(s):  
Vibration Control ◽  
Input Shaping ◽  
Flexible Joint ◽  
Flexible Joint Manipulator

Vibration Control of Redundant Flexible-Joint Manipulators

1997 ◽  
Vol 119 (1) ◽  
pp. 119-125
Author(s):  
Fengfeng Xi
Keyword(s):  
Numerical Simulations ◽  
Vibration Control ◽  
Control Method ◽  
Optimization Technique ◽  
Main Idea ◽  
The Other ◽  
Control Law ◽  
Flexible Joint ◽  
Flexible Joint Manipulator

Presented in this paper is a method for controlling vibrations of a redundant flexible-joint manipulator. The main idea behind this method is to utilize joint redundancy to minimize the change in the manipulator inertia, so that a simple gain-fixed control law can be used to control joint vibrations. For this purpose, two optimal joint trajectory generators are proposed; one is based on the extended Jacobian method and the other is based on an optimization technique. Numerical simulations are provided to demonstrate the effectiveness of the proposed control method.

Vibration Suppression of the Flexible Joint Manipulator Based on Controllable Local Degrees of Freedom

2011 ◽  
Vol 66-68 ◽  
pp. 989-994
Author(s):  
Zhi Hui Gao ◽  
Jing Jing Yu ◽  
Yu Shu Bian
Keyword(s):  
Vibration Control ◽  
Control Strategy ◽  
Topological Structure ◽  
Degrees Of Freedom ◽  
Vibration Suppression ◽  
Dynamic Performance ◽  
End Effector ◽  
Flexible Joint ◽  
Local Degree ◽  
Flexible Joint Manipulator

In order to suppress vibration of the flexible-joint manipulator, a new topological structure of the manipulator with the controllable local degrees of freedom is suggested. By kinematic and dynamic analysis, it is found that arbitrary motions introduced by the controllable local degrees of freedom are independent of the nominal end-effector motion, but can greatly affect dynamic performance of the manipulator. As a result, a vibration control strategy is put forward based on the controllable local degree of freedom. By planning the branch link motion, the vibration of the flexible-joint manipulator can be reduced. The results of numerical simulations verify the effectiveness of the vibration control strategy proposed in this paper.

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