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

    Keywords

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

    ASJC Scopus subject areas

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

    Fingerprint Dive into the research topics of 'Experimental Study on Variable Gain Vibration Suppression Control of a Three-Dimensional Flexible Manipulator'. Together they form a unique fingerprint.

    Cite this