Configuration-dependent vibration controllability of flexible-link manipulators

Atsushi Konno, Masaru Uchiyama, Yutaka Kito, Mahito Murakami

    Research output: Contribution to journalArticlepeer-review

    33 Citations (Scopus)


    In this article, the structural vibration controllability of flexible-link manipulators is discussed. For some spatial flexible-link manipulators, the structural vibration controllability is configuration-dependent. Therefore, the flexible-link manipulator may have some vibration-uncontrollable configurations. To understand the physical interpretation of vibration-uncontrollable configurations, we propose the modal accessibility concept, which indicates how well the actuators can affect the structural vibration modes. The configuration in which all of the actuators cannot affect at least one of the manipulator's vibration modes is vibration uncontrollable. Main contributions of this article are the following two points: first, interesting structural vibration-uncontrollable configurations are found within the two-link, three-joint-type manipulator's workspace, and are verified experimentally; second, the modal accessibility index is introduced to indicate how well the corresponding vibration mode is controllable. Experimental results show that even in the controllable configurations, it becomes difficult to suppress vibration if the modal accessibility is small.

    Original languageEnglish
    Pages (from-to)567-576
    Number of pages10
    JournalInternational Journal of Robotics Research
    Issue number4
    Publication statusPublished - 1997 Jan 1

    ASJC Scopus subject areas

    • Software
    • Modelling and Simulation
    • Mechanical Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Applied Mathematics

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