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

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

Subjects: Manipulators