Vibration suppression control of constrained spatial flexible manipulators

Jin Soo Kim, Kuniaki Suzuki, Mitsuhiro Yamano, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    7 Citations (Scopus)


    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)2831-2837
    Number of pages7
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

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


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