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

TY - JOUR

T1 - An active control method for vibration reduction of a single-link flexible manipulator

AU - Ma, Pengyu

AU - Xia, Ruiqiang

AU - Wang, Xuebin

AU - Zhang, Xuping

AU - Królczyk, Grzegorz

AU - Gardoni, Paolo

AU - Li, Zhixiong

N1 - Publisher Copyright: © The Author(s) 2022.

PY - 2022/12

Y1 - 2022/12

N2 - 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.

AB - 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.

KW - active control

KW - Flexible manipulator

KW - low frequency

KW - vibration reduction

U2 - 10.1177/14613484221094982

DO - 10.1177/14613484221094982

M3 - Journal article

AN - SCOPUS:85130008453

SN - 1461-3484

VL - 41

SP - 1497

EP - 1506

JO - Journal of Low Frequency Noise Vibration and Active Control

JF - Journal of Low Frequency Noise Vibration and Active Control

IS - 4

ER -