Vibration controllability of flexible manipulators

A. Konno, M. Uchiyama, Y. Kito, M. Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)


In this paper, we discuss the structural vibration controllability of flexible manipulators. In the spatial flexible manipulators, the structural vibration controllability would be configuration-dependent. Therefore, the flexible manipulator might have some vibration uncontrollable configurations and thus a discussion on the vibration controllability is a must. In order 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 actuators can't affect at least one of the vibration modes of the manipulator is vibration uncontrollable. To clarify this point, we consider an example and perform experiments on vibration suppression control of the flexible manipulator. Experimental results clarify the modal accessibility concept.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages7
Editionpt 1
ISBN (Print)0818653329
Publication statusPublished - 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: 1994 May 81994 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 1
ISSN (Print)1050-4729


OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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