Paper Title:
Vibration Control of Nonholonomically Redundant Flexible Manipulators
  Abstract

Underactuated flexible manipulator with redundant degrees of freedoms is investigated. Position control method of a single active joint driving the passive joint is given. According to the characteristics of nonholonomiclly redundant flexible manipulators, the optimal control strategy of multiple active joints driving the passive joints is proposed. As the elastic vibration of flexible links can not be eliminated only through position control, the vibration control schemes are presented again. The simulation results show that the elastic vibration is suppressed effectively. Therefore, for nonholonomically redundant flexible manipulator, both position control and vibration control are implemented successfully, which verifies the validity of the control schemes.

  Info
Periodical
Key Engineering Materials (Volumes 419-420)
Edited by
Daizhong Su, Qingbin Zhang and Shifan Zhu
Pages
617-620
DOI
10.4028/www.scientific.net/KEM.419-420.617
Citation
W. Chen, Y. Q. Yu, X. H. Zhao, L. Y. Zhao, "Vibration Control of Nonholonomically Redundant Flexible Manipulators", Key Engineering Materials, Vols. 419-420, pp. 617-620, 2010
Online since
October 2009
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Price
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