Experimental Study on Variable Gain Vibration Suppression Control of a Three-Dimensional Flexible Manipulator

Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

Abstract

In some three-dimensional flexible manipulators, the relationship between vibrations and actuators depends upon the manipulators' configuration. It has been reported that fixed gain vibration control in such manipulators makes the system unstable. Therefore, configuration dependence of such manipulators must be considered. In this paper, a configuration-dependent varible-gain vibration-suppression control strategy for three-dimensional flexible manipulators is presented. The vibration control scheme computes the feedback control gain in real time depending upon the configuration. Thus, the scheme is effective for practical applications. The control scheme is examined by experiment for the case of a two-link seven-joint-type flexible manipulator. The stability of the control scheme is analyzed based on the location of closed-loop poles.

Original languageEnglish
Pages (from-to)4345-4350
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Volume61
Issue number591
DOIs
Publication statusPublished - 1995
Externally publishedYes

Keywords

  • Flexible Structure
  • Robot
  • Stability
  • Variable Gain
  • Vibration Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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