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Vibration control of a two-link flexible robot arm

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Dynamics and Control

Abstract

Analysis and experimentation is described for a two-link apparatus in which both members are very flexible. Attention is focused on endpoint position control for point-to-point movements, assuming a fixed reference frame for the base, with two rotary joints. Each link is instrumented with acceleration sensing and is driven by a separate motor equipped with velocity and position sensing. The control perspective adopted is to implement a two-stage control strategy in which the vibration control problem for fine-motion endpoint positioning is considered separate from the gross-motion, large-angle slew problem. In the first stage the control law shapes the actuator inputsfor the large-angle movement in such a way that minimal energy is injected into the flexible modes, while in the second phase an endpoint acceleration feedback scheme is employed in independent joint controlfor vibration suppression at the link endpoints.

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Authors and Affiliations

  1. Department of Electrical Engineering, The Ohio State University, 2015 Neil Avenue, 43210, Columbus, Ohio

    Kenneth L. Hillsley & Stephen Yurkovich

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  1. Kenneth L. Hillsley
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  2. Stephen Yurkovich
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Hillsley, K.L., Yurkovich, S. Vibration control of a two-link flexible robot arm. Dynamics and Control 3, 261–280 (1993). https://doi.org/10.1007/BF01972699

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  • DOI: https://doi.org/10.1007/BF01972699

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