Eliminating Multiple Modes of Vibration in a Flexible Manipulator
Magee, David P.
Book, Wayne John
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The flexibility of long reach manipulators presents a difficult control problem when accurate endpoint position is required. To maintain a desired tip trajectory, the residual vibration inherent to flexible systems must be eliminated. Unfortunately, vibration suppression is often difficult to achieve in systems whose parameters are a function of configuration. This paper discusses a modified command shaping technique that eliminates the first two modes of vibration in a large, flexible manipulator with position dependent parameters. The elimination of residual vibration is demonstrated using a circular trajectory located in the workspace of the manipulator so that a significant change in system properties occurs. The modified shaping technique will be compared to previous control methods to demonstrate its effectiveness in eliminating residual vibration.