Vibration mechanism of constrained spatial flexible manipulators

Jin Soo Kim, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    11 Citations (Scopus)

    Abstract

    For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

    Original languageEnglish
    Pages (from-to)123-128
    Number of pages6
    JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
    Volume46
    Issue number1
    DOIs
    Publication statusPublished - 2003 Mar

    Keywords

    • Experiment
    • Lumped-parameter model
    • Position/force control
    • Simulation
    • Spatial flexible manipulator
    • Vibration suppression control

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Industrial and Manufacturing Engineering

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