An active control method for vibration reduction of a single-link flexible manipulator

Pengyu Ma*, Ruiqiang Xia, Xuebin Wang, Xuping Zhang, Grzegorz Królczyk, Paolo Gardoni, Zhixiong Li

*Corresponding author af dette arbejde

Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avisTidsskriftartikelForskningpeer review


There are three motion stages for an industrial robot manipulator, including the acceleration stage, the constant velocity stage, and the deceleration stage. Aiming at reducing the residual vibration of the manipulator after the movement of the deceleration, a new method is proposed by configuring the movement parameters of the flexible manipulator. Firstly, we conduct experiments to verify a numerical vibration model of the manipulator, and then, we analyze the vibration suppression effect under different conditions based on the numerical model. The results show that in the range of one movement, the residual vibration can be well suppressed when the acceleration and deceleration time are set as a positive integer to the natural period of the manipulator operation; otherwise, the vibration suppression effect is not obvious and proportional to the difference between the acceleration/deceleration time and the manipulator natural period.

TidsskriftJournal of Low Frequency Noise Vibration and Active Control
Sider (fra-til)1497-1506
Antal sider10
StatusUdgivet - dec. 2022


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