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Vibration control of manipulators

Vibration control of manipulators

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Control of vibration inflexible robot manipulators is considered in this chapter. A constrained planar single-link flexible manipulator is considered. Open-loop control strategies based on filtered and Gaussian-shaped command inputs and closed-loop control techniques based on partitioning of the rigid and flexible motion dynamics of the system are developed. These incorporate lowpass and bandstop filtered inputs, Gaussian-shaped inputs, switching surface and adaptive variable structure control, adaptive joint-based collocated and adaptive hybrid collocated and noncollocated control. The control strategies thus developed are tested within simulations and using a laboratory-scale flexible manipulator test rig.

Inspec keywords: variable structure systems; band-pass filters; flexible manipulators; vibration control; manipulator dynamics; open loop systems; adaptive control; low-pass filters; closed loop systems

Other keywords: adaptive hybrid collocated control; inflexible robot manipulators; flexible motion dynamics; bandstop filtered inputs; rigid motion dynamics; lowpass filtered inputs; Gaussian-shaped command inputs; noncollocated control; closed-loop control techniques; constrained planar single-link flexible manipulator; vibration control; open-loop control strategies; switching surface; adaptive variable structure control; adaptive joint-based collocated control

Subjects: Manipulators

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