Vibration controllability of flexible manipulators

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

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

    14 Citations (Scopus)

    Abstract

    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
    Pages308-314
    Number of pages7
    Editionpt 1
    ISBN (Print)0818653329
    Publication statusPublished - 1994 Jan 1
    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

    Other

    OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation
    CitySan Diego, CA, USA
    Period94/5/894/5/13

    ASJC Scopus subject areas

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

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