Active vibration control of a flexible manipulator in a parallel drive mechanism

Young Kyun Ha, Seung Chul Choi, Jae Won Kim, Sang Jo Lee, Young Pil Park

Research output: Contribution to journalConference article

Abstract

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using Galerkin's mode summation method, for modal control. Digital optimal control and observer theory are used for the system to suppress the arm vibration and control the position of joint angle with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

Original languageEnglish
Pages (from-to)474-478
Number of pages5
JournalProceedings of the International Modal Analysis Conference - IMAC
Volume1
Publication statusPublished - 1991 Jan 1
EventProceedings of the 9th International Modal Analysis Conference Part 1 (of 2) - Florence, Italy
Duration: 1991 Apr 151991 Apr 18

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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