Vibration Control of Nonholonomically Redundant Flexible Manipulators
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.
Daizhong Su, Qingbin Zhang and Shifan Zhu
W. Chen et al., "Vibration Control of Nonholonomically Redundant Flexible Manipulators", Key Engineering Materials, Vols. 419-420, pp. 617-620, 2010