Vibration Control of Nonholonomically Redundant Flexible Manipulators

Wei Chen; Yue Qing Yu; Xin Hua Zhao; Lian Yu Zhao

doi:10.4028/www.scientific.net/KEM.419-420.617

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 419-420Vibration Control of Nonholonomically Redundant...

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.

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Periodical:

Key Engineering Materials (Volumes 419-420)

Pages:

617-620

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.419-420.617

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Online since:

October 2009

Authors:

Wei Chen, Yue Qing Yu, Xin Hua Zhao, Lian Yu Zhao

Keywords:

Nonholonomical Redundant Flexible Manipulator, Position Control, Vibration Control

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